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feat: add spindle direction selection contract

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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
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docs/05-telemetry-channel-spec-v1.md
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@@ -34,6 +34,8 @@ spindle_motor_temp_c
arm_angle_linearized_deg
table_rpm_setpoint
spindle_rpm_setpoint
spindle_direction_setpoint
spindle_direction_actual
force_actuator_cmd
estop_active
interlock_state
@@ -50,6 +52,7 @@ fz_contact_n
- Sensor validity is explicit; never substitute fake good values.
- Gaps are detectable from timestamps.
- Header names are stable because downstream analysis will depend on them.
- Spindle RPM remains a non-negative magnitude; spindle direction is logged separately as `cw` / `ccw` rather than encoded as signed RPM.
## CSV baseline