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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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3
docs/07-manual-mode-workflow.md
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@@ -16,6 +16,7 @@
- force N
- table RPM
- spindle RPM
- spindle rotation direction: clockwise (`cw`) or counter-clockwise (`ccw`) as viewed from above the toolhead looking down toward the mirror/tool contact
- optional force modulation harmonic/amplitude/phase
7. Operator presses Start.
8. Host sends `MANUAL_START`.
@@ -27,6 +28,6 @@
- Manual mode cannot start with stale geometry.
- Manual mode uses the same safety/interlocks as job mode.
- Every setpoint change is logged.
- Every setpoint change is logged, including spindle direction changes.
- Telemetry always runs while force/motion is active.
- Tool removal uses the documented mechanical sequence; no powered Zero-G in v1.