feat: add spindle direction selection contract
This commit is contained in:
Nick Hermes
@@ -65,13 +65,23 @@
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"description": "Explicit record of every constraint, clip, or approximation applied.",
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"items": {
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"type": "object",
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"required": ["source_pass_id", "field", "description"],
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"required": [
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"source_pass_id",
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"field",
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"description"
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],
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"properties": {
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"source_pass_id": { "type": "string" },
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"field": { "type": "string" },
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"source_pass_id": {
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"type": "string"
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},
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"field": {
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"type": "string"
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},
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"planned_value": {},
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"translated_value": {},
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"description": { "type": "string" }
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"description": {
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"type": "string"
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}
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}
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}
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}
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@@ -86,31 +96,71 @@
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"duration_s",
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"commanded_force_n",
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"commanded_table_rpm",
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"commanded_spindle_rpm"
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"commanded_spindle_rpm",
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"commanded_spindle_direction"
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],
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"properties": {
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"segment_id": { "type": "string" },
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"sequence_index": { "type": "integer", "minimum": 1 },
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"segment_id": {
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"type": "string"
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},
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"sequence_index": {
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"type": "integer",
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"minimum": 1
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},
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"source_pass_id": {
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"type": "string",
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"description": "Back-reference to the planning pass this segment came from."
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},
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"duration_s": { "type": "number", "minimum": 0 },
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"commanded_force_n": { "type": "number", "minimum": 0 },
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"commanded_table_rpm": { "type": "number", "minimum": 0 },
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"commanded_spindle_rpm": { "type": "number", "minimum": 0 },
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"commanded_cam_amplitude_deg": { "type": "number" },
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"commanded_cam_offset_deg": { "type": "number" },
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"duration_s": {
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"type": "number",
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"minimum": 0
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},
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"commanded_force_n": {
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"type": "number",
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"minimum": 0
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},
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"commanded_table_rpm": {
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"type": "number",
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"minimum": 0
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},
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"commanded_spindle_rpm": {
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"type": "number",
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"minimum": 0
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},
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"commanded_cam_amplitude_deg": {
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"type": "number"
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},
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"commanded_cam_offset_deg": {
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"type": "number"
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},
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"force_modulation": {
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"type": "object",
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"properties": {
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"harmonic": { "type": "integer" },
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"amplitude_n": { "type": "number" },
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"phase_deg": { "type": "number" }
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"harmonic": {
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"type": "integer"
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},
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"amplitude_n": {
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"type": "number"
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},
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"phase_deg": {
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"type": "number"
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}
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}
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},
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"dither_profile": { "type": "string" },
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"notes": { "type": "string" }
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"dither_profile": {
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"type": "string"
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},
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"notes": {
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"type": "string"
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},
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"commanded_spindle_direction": {
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"type": "string",
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"enum": [
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"cw",
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"ccw"
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],
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"description": "Toolhead spindle rotation direction, as viewed from above the toolhead looking down toward the mirror/tool contact. ODrive sign mapping is commissioned to match this physical convention."
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}
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}
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}
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}
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@@ -25,7 +25,8 @@
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"phase_deg": 37.2
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},
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"dither_profile": "none",
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"notes": "Direct translation — no segmentation needed for 1200s duration."
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"notes": "Direct translation \u2014 no segmentation needed for 1200s duration.",
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"commanded_spindle_direction": "cw"
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}
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],
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"translation_losses": []
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@@ -36,7 +36,8 @@
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"amplitude_n": 5.0,
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"phase_deg": 37.2
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},
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"notes": "Phase derived from Zernike fit of pre-polish interferogram."
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"notes": "Phase derived from Zernike fit of pre-polish interferogram.",
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"spindle_direction": "cw"
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}
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],
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"predicted_outcome": {
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@@ -53,7 +54,10 @@
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}
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},
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"uncertainty": {
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"removal_rms_nm_range": [14.0, 24.0],
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"removal_rms_nm_range": [
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14.0,
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24.0
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],
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"notes": "Uncertainty dominated by Preston coefficient calibration spread."
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},
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"attachments": [
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@@ -5,31 +5,85 @@
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"machine_name": "Fullum Swing-Arm Polisher",
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"controller_version": "polisher-control/0.1.0",
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"last_verified": "2026-06-01T00:00:00Z",
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"supported_motion_families": ["swing-arm-rosette"],
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"force_range_n": [5, 200],
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"table_rpm_range": [0.5, 10.0],
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"spindle_rpm_range": [10, 120],
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"cam_amplitude_range_deg": [1.0, 31.3],
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"cam_offset_range_deg": [-30.0, 30.0],
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"supported_motion_families": [
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"swing-arm-rosette"
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],
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"force_range_n": [
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5,
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200
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],
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"table_rpm_range": [
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0.5,
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10.0
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],
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"spindle_rpm_range": [
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10,
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120
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],
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"cam_amplitude_range_deg": [
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1.0,
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31.3
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],
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"cam_offset_range_deg": [
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-30.0,
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30.0
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],
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"force_modulation": {
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"supported": true,
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"max_harmonics": 3,
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"max_amplitude_n": 24.0,
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"notes": "m=2 astigmatism and m=3 trefoil are proven channels. m=1 coma is unreliable (score 0.09)."
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},
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"supported_dither_profiles": ["none", "default"],
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"supported_dither_profiles": [
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"none",
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"default"
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],
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"segment_duration_limits": {
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"min_s": 30,
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"max_s": 7200
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},
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"pause_resume_support": true,
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"telemetry_channels": [
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{ "name": "table_rpm", "unit": "RPM", "sample_rate_hz": 100 },
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{ "name": "spindle_rpm", "unit": "RPM", "sample_rate_hz": 100 },
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{ "name": "force_n", "unit": "N", "sample_rate_hz": 100 },
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{ "name": "arm_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
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{ "name": "table_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
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{ "name": "timestamp_ms", "unit": "ms", "sample_rate_hz": 100 }
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{
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"name": "table_rpm",
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"unit": "RPM",
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"sample_rate_hz": 100
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},
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{
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"name": "spindle_rpm",
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"unit": "RPM",
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"sample_rate_hz": 100
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},
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{
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"name": "force_n",
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"unit": "N",
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"sample_rate_hz": 100
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},
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{
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"name": "arm_angle_deg",
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"unit": "degrees",
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"sample_rate_hz": 100
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},
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{
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"name": "table_angle_deg",
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"unit": "degrees",
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"sample_rate_hz": 100
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},
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{
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"name": "timestamp_ms",
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"unit": "ms",
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"sample_rate_hz": 100
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},
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{
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"name": "spindle_direction_setpoint",
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"unit": "enum(cw|ccw)",
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"sample_rate_hz": 10
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},
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{
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"name": "spindle_direction_actual",
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"unit": "enum(cw|ccw)",
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"sample_rate_hz": 10
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}
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],
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"safety_limits": {
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"max_force_n": 200,
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@@ -38,14 +92,18 @@
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"notes": "Force hard-limited by load cell interlock. RPM limits are VFD/servo configured."
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},
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"known_constraints": [
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"Cam amplitude is not servo-programmable — must be set mechanically before run.",
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"Cam amplitude is not servo-programmable \u2014 must be set mechanically before run.",
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"Force modulation bandwidth limited to ~5 Hz by actuator response.",
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"Table encoder is absolute but may have 1-2 count jitter.",
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"Serial interface to Teensy limits command update rate to ~50 Hz effective."
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],
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"unknowns": [
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"Exact force modulation phase accuracy at m=3 harmonic — not yet validated on hardware.",
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"Exact force modulation phase accuracy at m=3 harmonic \u2014 not yet validated on hardware.",
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"Thermal drift effect on force sensor over runs longer than 1 hour.",
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"Arm pivot play magnitude under varying force loads."
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],
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"supported_spindle_directions": [
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"cw",
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"ccw"
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]
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}
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@@ -20,7 +20,8 @@
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"table_rpm": 4.0,
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"spindle_rpm": 40.0,
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"cam_amplitude_deg": 31.3,
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"cam_offset_deg": 0.0
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"cam_offset_deg": 0.0,
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"spindle_direction": "cw"
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},
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"actual": {
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"force_n_mean": 44.7,
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@@ -37,7 +38,8 @@
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"commanded_summary": {
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"force_n": 45.0,
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"table_rpm": 4.0,
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"spindle_rpm": 40.0
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"spindle_rpm": 40.0,
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"spindle_direction": "cw"
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},
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"actual_summary": {
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"force_n_mean": 44.7,
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@@ -55,15 +55,21 @@
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},
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"strategy_summary": {
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"type": "object",
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"required": ["intent"],
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"required": [
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"intent"
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],
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"properties": {
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"intent": { "type": "string" },
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"intent": {
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"type": "string"
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},
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"confidence": {
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"type": "number",
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"minimum": 0,
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"maximum": 1
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},
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"notes": { "type": "string" }
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"notes": {
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"type": "string"
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}
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}
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},
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"passes": {
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@@ -77,11 +83,17 @@
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"type": "object",
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"description": "Summary of predicted post-polish surface state.",
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"properties": {
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"removal_rms_nm": { "type": "number" },
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"removal_pv_nm": { "type": "number" },
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"removal_rms_nm": {
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"type": "number"
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},
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"removal_pv_nm": {
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"type": "number"
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},
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"residual_zernikes": {
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"type": "object",
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"additionalProperties": { "type": "number" }
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"additionalProperties": {
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"type": "number"
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}
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}
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}
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},
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@@ -91,22 +103,35 @@
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"properties": {
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"removal_rms_nm_range": {
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"type": "array",
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"items": { "type": "number" },
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"items": {
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"type": "number"
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},
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"minItems": 2,
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"maxItems": 2
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},
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"notes": { "type": "string" }
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"notes": {
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"type": "string"
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}
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}
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},
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"attachments": {
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"type": "array",
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"items": {
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"type": "object",
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"required": ["filename", "role"],
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"required": [
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"filename",
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"role"
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],
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"properties": {
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"filename": { "type": "string" },
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"role": { "type": "string" },
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"description": { "type": "string" }
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"filename": {
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"type": "string"
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},
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"role": {
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"type": "string"
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},
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"description": {
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"type": "string"
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}
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}
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}
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}
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@@ -121,37 +146,81 @@
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"force_n",
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"table_rpm",
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"spindle_rpm",
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"spindle_direction",
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"motion_family"
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],
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"properties": {
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"pass_id": { "type": "string" },
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"sequence_index": { "type": "integer", "minimum": 1 },
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"objective": { "type": "string" },
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"preset_name": { "type": "string" },
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"duration_s": { "type": "number", "minimum": 0 },
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"force_n": { "type": "number", "minimum": 0 },
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"table_rpm": { "type": "number", "minimum": 0 },
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"spindle_rpm": { "type": "number", "minimum": 0 },
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"motion_family": { "type": "string" },
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"pass_id": {
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"type": "string"
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},
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"sequence_index": {
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||||
"type": "integer",
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||||
"minimum": 1
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||||
},
|
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"objective": {
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||||
"type": "string"
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},
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"preset_name": {
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"type": "string"
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},
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"duration_s": {
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"type": "number",
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||||
"minimum": 0
|
||||
},
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||||
"force_n": {
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||||
"type": "number",
|
||||
"minimum": 0
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||||
},
|
||||
"table_rpm": {
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"type": "number",
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||||
"minimum": 0
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||||
},
|
||||
"spindle_rpm": {
|
||||
"type": "number",
|
||||
"minimum": 0
|
||||
},
|
||||
"motion_family": {
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||||
"type": "string"
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||||
},
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||||
"motion_params": {
|
||||
"type": "object",
|
||||
"additionalProperties": true
|
||||
},
|
||||
"zone": { "type": "string" },
|
||||
"dither_profile": { "type": "string" },
|
||||
"zone": {
|
||||
"type": "string"
|
||||
},
|
||||
"dither_profile": {
|
||||
"type": "string"
|
||||
},
|
||||
"force_modulation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"harmonic": { "type": "integer" },
|
||||
"amplitude_n": { "type": "number" },
|
||||
"phase_deg": { "type": "number" }
|
||||
"harmonic": {
|
||||
"type": "integer"
|
||||
},
|
||||
"amplitude_n": {
|
||||
"type": "number"
|
||||
},
|
||||
"phase_deg": {
|
||||
"type": "number"
|
||||
}
|
||||
}
|
||||
},
|
||||
"acceptance": {
|
||||
"type": "object",
|
||||
"additionalProperties": true
|
||||
},
|
||||
"notes": { "type": "string" }
|
||||
"notes": {
|
||||
"type": "string"
|
||||
},
|
||||
"spindle_direction": {
|
||||
"type": "string",
|
||||
"enum": [
|
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"cw",
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||||
"ccw"
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||||
],
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||||
"description": "Requested toolhead spindle rotation direction using the same physical convention as polisher-control."
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}
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||||
}
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||||
}
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||||
}
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@@ -12,7 +12,8 @@
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"supported_motion_families",
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"force_range_n",
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||||
"table_rpm_range",
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||||
"spindle_rpm_range"
|
||||
"spindle_rpm_range",
|
||||
"supported_spindle_directions"
|
||||
],
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||||
"properties": {
|
||||
"schema_version": {
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||||
@@ -38,7 +39,9 @@
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||||
},
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||||
"supported_motion_families": {
|
||||
"type": "array",
|
||||
"items": { "type": "string" },
|
||||
"items": {
|
||||
"type": "string"
|
||||
},
|
||||
"minItems": 1
|
||||
},
|
||||
"force_range_n": {
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||||
@@ -60,22 +63,36 @@
|
||||
"type": "object",
|
||||
"description": "Force modulation capabilities. Omit entirely if unknown.",
|
||||
"properties": {
|
||||
"supported": { "type": "boolean" },
|
||||
"max_harmonics": { "type": "integer" },
|
||||
"max_amplitude_n": { "type": "number" },
|
||||
"notes": { "type": "string" }
|
||||
"supported": {
|
||||
"type": "boolean"
|
||||
},
|
||||
"max_harmonics": {
|
||||
"type": "integer"
|
||||
},
|
||||
"max_amplitude_n": {
|
||||
"type": "number"
|
||||
},
|
||||
"notes": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"supported_dither_profiles": {
|
||||
"type": "array",
|
||||
"items": { "type": "string" },
|
||||
"items": {
|
||||
"type": "string"
|
||||
},
|
||||
"description": "List of dither profile names the controller can handle. Empty = none supported."
|
||||
},
|
||||
"segment_duration_limits": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"min_s": { "type": "number" },
|
||||
"max_s": { "type": "number" }
|
||||
"min_s": {
|
||||
"type": "number"
|
||||
},
|
||||
"max_s": {
|
||||
"type": "number"
|
||||
}
|
||||
}
|
||||
},
|
||||
"pause_resume_support": {
|
||||
@@ -85,12 +102,23 @@
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "object",
|
||||
"required": ["name", "unit"],
|
||||
"required": [
|
||||
"name",
|
||||
"unit"
|
||||
],
|
||||
"properties": {
|
||||
"name": { "type": "string" },
|
||||
"unit": { "type": "string" },
|
||||
"sample_rate_hz": { "type": "number" },
|
||||
"notes": { "type": "string" }
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"unit": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_rate_hz": {
|
||||
"type": "number"
|
||||
},
|
||||
"notes": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
@@ -98,21 +126,46 @@
|
||||
"type": "object",
|
||||
"description": "Hard safety limits that the controller enforces regardless of job requests.",
|
||||
"properties": {
|
||||
"max_force_n": { "type": "number" },
|
||||
"max_table_rpm": { "type": "number" },
|
||||
"max_spindle_rpm": { "type": "number" },
|
||||
"notes": { "type": "string" }
|
||||
"max_force_n": {
|
||||
"type": "number"
|
||||
},
|
||||
"max_table_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"max_spindle_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"notes": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"known_constraints": {
|
||||
"type": "array",
|
||||
"items": { "type": "string" },
|
||||
"items": {
|
||||
"type": "string"
|
||||
},
|
||||
"description": "Free-text list of known limitations, quirks, or warnings."
|
||||
},
|
||||
"unknowns": {
|
||||
"type": "array",
|
||||
"items": { "type": "string" },
|
||||
"items": {
|
||||
"type": "string"
|
||||
},
|
||||
"description": "Capabilities that have NOT been verified. Explicit unknowns prevent fake certainty."
|
||||
},
|
||||
"supported_spindle_directions": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string",
|
||||
"enum": [
|
||||
"cw",
|
||||
"ccw"
|
||||
]
|
||||
},
|
||||
"minItems": 1,
|
||||
"uniqueItems": true,
|
||||
"description": "Toolhead spindle rotation directions supported by the controller UI/protocol."
|
||||
}
|
||||
},
|
||||
"$defs": {
|
||||
@@ -120,7 +173,9 @@
|
||||
"oneOf": [
|
||||
{
|
||||
"type": "array",
|
||||
"items": { "type": "number" },
|
||||
"items": {
|
||||
"type": "number"
|
||||
},
|
||||
"minItems": 2,
|
||||
"maxItems": 2,
|
||||
"description": "[min, max] range."
|
||||
|
||||
@@ -49,7 +49,12 @@
|
||||
},
|
||||
"result_state": {
|
||||
"type": "string",
|
||||
"enum": ["completed", "completed_with_pause", "aborted", "faulted"]
|
||||
"enum": [
|
||||
"completed",
|
||||
"completed_with_pause",
|
||||
"aborted",
|
||||
"faulted"
|
||||
]
|
||||
},
|
||||
"segments": {
|
||||
"type": "array",
|
||||
@@ -61,31 +66,72 @@
|
||||
"commanded_summary": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"force_n": { "type": "number" },
|
||||
"table_rpm": { "type": "number" },
|
||||
"spindle_rpm": { "type": "number" }
|
||||
"force_n": {
|
||||
"type": "number"
|
||||
},
|
||||
"table_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_direction": {
|
||||
"type": "string",
|
||||
"enum": [
|
||||
"cw",
|
||||
"ccw"
|
||||
]
|
||||
}
|
||||
}
|
||||
},
|
||||
"actual_summary": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"force_n_mean": { "type": "number" },
|
||||
"force_n_min": { "type": "number" },
|
||||
"force_n_max": { "type": "number" },
|
||||
"table_rpm_mean": { "type": "number" },
|
||||
"spindle_rpm_mean": { "type": "number" }
|
||||
"force_n_mean": {
|
||||
"type": "number"
|
||||
},
|
||||
"force_n_min": {
|
||||
"type": "number"
|
||||
},
|
||||
"force_n_max": {
|
||||
"type": "number"
|
||||
},
|
||||
"table_rpm_mean": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_rpm_mean": {
|
||||
"type": "number"
|
||||
}
|
||||
}
|
||||
},
|
||||
"alarms": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "object",
|
||||
"required": ["timestamp", "code", "message"],
|
||||
"required": [
|
||||
"timestamp",
|
||||
"code",
|
||||
"message"
|
||||
],
|
||||
"properties": {
|
||||
"timestamp": { "type": "string", "format": "date-time" },
|
||||
"code": { "type": "string" },
|
||||
"message": { "type": "string" },
|
||||
"severity": { "type": "string", "enum": ["info", "warning", "critical"] }
|
||||
"timestamp": {
|
||||
"type": "string",
|
||||
"format": "date-time"
|
||||
},
|
||||
"code": {
|
||||
"type": "string"
|
||||
},
|
||||
"message": {
|
||||
"type": "string"
|
||||
},
|
||||
"severity": {
|
||||
"type": "string",
|
||||
"enum": [
|
||||
"info",
|
||||
"warning",
|
||||
"critical"
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
@@ -93,11 +139,21 @@
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "object",
|
||||
"required": ["timestamp", "type"],
|
||||
"required": [
|
||||
"timestamp",
|
||||
"type"
|
||||
],
|
||||
"properties": {
|
||||
"timestamp": { "type": "string", "format": "date-time" },
|
||||
"type": { "type": "string" },
|
||||
"detail": { "type": "string" }
|
||||
"timestamp": {
|
||||
"type": "string",
|
||||
"format": "date-time"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"detail": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
@@ -120,51 +176,107 @@
|
||||
"result_state"
|
||||
],
|
||||
"properties": {
|
||||
"segment_id": { "type": "string" },
|
||||
"source_pass_id": { "type": "string" },
|
||||
"commanded_duration_s": { "type": "number" },
|
||||
"actual_duration_s": { "type": "number" },
|
||||
"segment_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"source_pass_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"commanded_duration_s": {
|
||||
"type": "number"
|
||||
},
|
||||
"actual_duration_s": {
|
||||
"type": "number"
|
||||
},
|
||||
"result_state": {
|
||||
"type": "string",
|
||||
"enum": ["completed", "completed_with_pause", "aborted", "faulted", "skipped"]
|
||||
"enum": [
|
||||
"completed",
|
||||
"completed_with_pause",
|
||||
"aborted",
|
||||
"faulted",
|
||||
"skipped"
|
||||
]
|
||||
},
|
||||
"commanded": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"force_n": { "type": "number" },
|
||||
"table_rpm": { "type": "number" },
|
||||
"spindle_rpm": { "type": "number" },
|
||||
"cam_amplitude_deg": { "type": "number" },
|
||||
"cam_offset_deg": { "type": "number" }
|
||||
"force_n": {
|
||||
"type": "number"
|
||||
},
|
||||
"table_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_rpm": {
|
||||
"type": "number"
|
||||
},
|
||||
"cam_amplitude_deg": {
|
||||
"type": "number"
|
||||
},
|
||||
"cam_offset_deg": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_direction": {
|
||||
"type": "string",
|
||||
"enum": [
|
||||
"cw",
|
||||
"ccw"
|
||||
]
|
||||
}
|
||||
}
|
||||
},
|
||||
"actual": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"force_n_mean": { "type": "number" },
|
||||
"force_n_min": { "type": "number" },
|
||||
"force_n_max": { "type": "number" },
|
||||
"table_rpm_mean": { "type": "number" },
|
||||
"spindle_rpm_mean": { "type": "number" }
|
||||
"force_n_mean": {
|
||||
"type": "number"
|
||||
},
|
||||
"force_n_min": {
|
||||
"type": "number"
|
||||
},
|
||||
"force_n_max": {
|
||||
"type": "number"
|
||||
},
|
||||
"table_rpm_mean": {
|
||||
"type": "number"
|
||||
},
|
||||
"spindle_rpm_mean": {
|
||||
"type": "number"
|
||||
}
|
||||
}
|
||||
},
|
||||
"pause_windows": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "object",
|
||||
"required": ["paused_at", "resumed_at"],
|
||||
"required": [
|
||||
"paused_at",
|
||||
"resumed_at"
|
||||
],
|
||||
"properties": {
|
||||
"paused_at": { "type": "string", "format": "date-time" },
|
||||
"resumed_at": { "type": "string", "format": "date-time" },
|
||||
"reason": { "type": "string" }
|
||||
"paused_at": {
|
||||
"type": "string",
|
||||
"format": "date-time"
|
||||
},
|
||||
"resumed_at": {
|
||||
"type": "string",
|
||||
"format": "date-time"
|
||||
},
|
||||
"reason": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
"anomaly_flags": {
|
||||
"type": "array",
|
||||
"items": { "type": "string" }
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"notes": { "type": "string" }
|
||||
"notes": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user