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feat: add spindle direction selection contract

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Nick Hermes
2026-06-02 15:40:16 +00:00
parent 02d9323c43
commit beeb521ca7
21 changed files with 689 additions and 133 deletions
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ROADMAP.md
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@@ -22,13 +22,13 @@
- [ ] Host↔Teensy serial link with ACK/NACK and CRC.
- [ ] KWR75B-CAN receive path with measured sample rate and stale-frame watchdog.
- [ ] Encoder acquisition for table and arm.
- [ ] ODrive command/telemetry interface selected and documented.
- [ ] ODrive command/telemetry interface selected and documented, including sign mapping for `cw`/`ccw` physical tool rotation.
- [ ] Force actuator command path selected and documented.
## Phase 3 — Manual mode MVP
- [ ] Host UI/manual-mode workflow with geometric gate.
- [ ] Manual setpoints: force, table RPM, spindle RPM, optional modulation.
- [ ] Manual setpoints: force, table RPM, spindle RPM, spindle direction (`cw`/`ccw`), optional modulation.
- [ ] Teensy inner loop: setpoint ramping, force PID, telemetry, fast interlocks.
- [ ] Manual-session log and telemetry CSV written to `/data/manual/{session_id}/`.
- [ ] Status file updated at `/data/status.json`.