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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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docs/09-acceptance-checklist.md
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@@ -16,6 +16,7 @@ This checklist condenses the current P11 firmware/control spec for implementatio
- [ ] Force PID tracks setpoint within agreed commissioning tolerance.
- [ ] Force modulation uses live table encoder angle.
- [ ] Table and spindle RPM follow commands.
- [ ] Toolhead spindle direction follows clockwise/counter-clockwise operator/job selection and is logged explicitly.
- [ ] Pause time excluded from segment polishing time.
## Telemetry
@@ -39,7 +40,7 @@ This checklist condenses the current P11 firmware/control spec for implementatio
## Manual mode
- [ ] `MANUAL` reachable from `IDLE`.
- [ ] Live setpoint adjustment works.
- [ ] Live setpoint adjustment works for force, table RPM, spindle RPM, spindle direction, and optional modulation.
- [ ] Geometric gate blocks stale geometry.
- [ ] Setpoint changes are timestamped events.
- [ ] Manual-session log emitted on exit.