Antoine/Polisher-Control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add spindle direction selection contract

Browse Source
This commit is contained in:
Nick Hermes
2026-06-02 15:40:16 +00:00
parent 02d9323c43
commit beeb521ca7
21 changed files with 689 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
docs/04-host-teensy-protocol-v1.md
View File

@@ -36,6 +36,15 @@ Requirements:
- `SEGMENT_DONE`
- `ABORT_COMPLETE`
## Spindle direction field
`MANUAL_START`, `SETPOINT`, and future `SEGMENT_START` payloads include `spindle_direction` / `commanded_spindle_direction` with stable values:
- `cw` — clockwise
- `ccw` — counter-clockwise
Physical convention: direction is observed from above the toolhead looking down toward the mirror/tool contact. The ODrive sign mapping is a commissioning item and must be configured so UI/protocol values match physical rotation. Direction changes are explicit setpoint changes; do not infer direction from a signed RPM. RPM remains a non-negative magnitude.
## v1 production subset
Manual v1 only needs: