38 lines
1.2 KiB
Markdown
38 lines
1.2 KiB
Markdown
|
---
|
||
|
|
title: Polisher-Control Repository Foundation
|
||
|
|
status: draft
|
||
|
|
requested_by: Antoine Letarte
|
||
|
|
generated_by: Nick / Hermes
|
||
|
|
project: P11-Polisher-Fullum
|
||
|
|
repo: polisher-control
|
||
|
|
source_truth: false
|
||
|
|
created: 2026-05-26
|
||
|
|
privacy: technical-only
|
||
|
|
---
|
||
|
|
|
||
|
|
# Polisher-Control Repository Foundation
|
||
|
|
|
||
|
|
## Purpose
|
||
|
|
|
||
|
|
Give Cédric a clean starting point for the machine-side control implementation without mixing in upstream planning or private project context.
|
||
|
|
|
||
|
|
## What to build first
|
||
|
|
|
||
|
|
1. Host↔Teensy protocol and ACK/NACK behavior.
|
||
|
|
2. State machine and illegal-transition tests.
|
||
|
|
3. KWR75B-CAN receive path and F/T validity/stale-frame watchdog.
|
||
|
|
4. Manual mode with geometric gate.
|
||
|
|
5. Telemetry CSV and manual-session log.
|
||
|
|
6. Safety interlock behavior.
|
||
|
|
|
||
|
|
## Key instruction
|
||
|
|
|
||
|
|
Manual mode is not a throwaway mode. Manual telemetry is the calibration dataset for the entire future digital-twin loop. Keep channel names, timestamps, setpoint history, and force/angle data stable from the start.
|
||
|
|
|
||
|
|
## Acceptance checks
|
||
|
|
|
||
|
|
- [ ] Normand can run manual mode safely.
|
||
|
|
- [ ] Every session produces telemetry and a manual-session log.
|
||
|
|
- [ ] Every fault or rejected command is visible as an event/alarm.
|
||
|
|
- [ ] The controller never invents polishing strategy.
|