feat: add spindle direction selection contract

shared/schemas/examples/machine-capabilities.example.json

@@ -5,31 +5,85 @@
   "machine_name": "Fullum Swing-Arm Polisher",
   "controller_version": "polisher-control/0.1.0",
   "last_verified": "2026-06-01T00:00:00Z",
-  "supported_motion_families": ["swing-arm-rosette"],
-  "force_range_n": [5, 200],
-  "table_rpm_range": [0.5, 10.0],
-  "spindle_rpm_range": [10, 120],
-  "cam_amplitude_range_deg": [1.0, 31.3],
-  "cam_offset_range_deg": [-30.0, 30.0],
+  "supported_motion_families": [
+    "swing-arm-rosette"
+  ],
+  "force_range_n": [
+    5,
+    200
+  ],
+  "table_rpm_range": [
+    0.5,
+    10.0
+  ],
+  "spindle_rpm_range": [
+    10,
+    120
+  ],
+  "cam_amplitude_range_deg": [
+    1.0,
+    31.3
+  ],
+  "cam_offset_range_deg": [
+    -30.0,
+    30.0
+  ],
   "force_modulation": {
     "supported": true,
     "max_harmonics": 3,
     "max_amplitude_n": 24.0,
     "notes": "m=2 astigmatism and m=3 trefoil are proven channels. m=1 coma is unreliable (score 0.09)."
   },
-  "supported_dither_profiles": ["none", "default"],
+  "supported_dither_profiles": [
+    "none",
+    "default"
+  ],
   "segment_duration_limits": {
     "min_s": 30,
     "max_s": 7200
   },
   "pause_resume_support": true,
   "telemetry_channels": [
-    { "name": "table_rpm", "unit": "RPM", "sample_rate_hz": 100 },
-    { "name": "spindle_rpm", "unit": "RPM", "sample_rate_hz": 100 },
-    { "name": "force_n", "unit": "N", "sample_rate_hz": 100 },
-    { "name": "arm_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
-    { "name": "table_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
-    { "name": "timestamp_ms", "unit": "ms", "sample_rate_hz": 100 }
+    {
+      "name": "table_rpm",
+      "unit": "RPM",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "spindle_rpm",
+      "unit": "RPM",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "force_n",
+      "unit": "N",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "arm_angle_deg",
+      "unit": "degrees",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "table_angle_deg",
+      "unit": "degrees",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "timestamp_ms",
+      "unit": "ms",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "spindle_direction_setpoint",
+      "unit": "enum(cw|ccw)",
+      "sample_rate_hz": 10
+    },
+    {
+      "name": "spindle_direction_actual",
+      "unit": "enum(cw|ccw)",
+      "sample_rate_hz": 10
+    }
   ],
   "safety_limits": {
     "max_force_n": 200,
@@ -38,14 +92,18 @@
     "notes": "Force hard-limited by load cell interlock. RPM limits are VFD/servo configured."
   },
   "known_constraints": [
-    "Cam amplitude is not servo-programmable — must be set mechanically before run.",
+    "Cam amplitude is not servo-programmable \u2014 must be set mechanically before run.",
     "Force modulation bandwidth limited to ~5 Hz by actuator response.",
     "Table encoder is absolute but may have 1-2 count jitter.",
     "Serial interface to Teensy limits command update rate to ~50 Hz effective."
   ],
   "unknowns": [
-    "Exact force modulation phase accuracy at m=3 harmonic — not yet validated on hardware.",
+    "Exact force modulation phase accuracy at m=3 harmonic \u2014 not yet validated on hardware.",
     "Thermal drift effect on force sensor over runs longer than 1 hour.",
     "Arm pivot play magnitude under varying force loads."
+  ],
+  "supported_spindle_directions": [
+    "cw",
+    "ccw"
   ]
 }