docs: scaffold polisher-control foundation

ROADMAP.md

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+# Polisher-Control Roadmap
+
+## Phase 0 — Repository foundation
+
+- [x] Create repository structure.
+- [x] Add ecosystem boundary docs.
+- [x] Add v1 scope and acceptance checklist.
+- [x] Add host/firmware scaffolds.
+- [x] Mirror current shared schemas.
+
+## Phase 1 — Contracts first
+
+- [ ] Lock protocol frame format: message IDs, payload layout, CRC, ACK/NACK.
+- [ ] Lock telemetry channel list, units, rates, validity encoding.
+- [ ] Lock event/alarm code table.
+- [ ] Validate `controller-job.v1` and `run-log.v1` fixtures.
+- [ ] Implement host-side state machine tests before hardware logic grows.
+
+## Phase 2 — Teensy bench bring-up
+
+- [ ] Teensy boot/status heartbeat.
+- [ ] Host↔Teensy serial link with ACK/NACK and CRC.
+- [ ] KWR75B-CAN receive path with measured sample rate and stale-frame watchdog.
+- [ ] Encoder acquisition for table and arm.
+- [ ] ODrive command/telemetry interface selected and documented.
+- [ ] Force actuator command path selected and documented.
+
+## Phase 3 — Manual mode MVP
+
+- [ ] Host UI/manual-mode workflow with geometric gate.
+- [ ] Manual setpoints: force, table RPM, spindle RPM, optional modulation.
+- [ ] Teensy inner loop: setpoint ramping, force PID, telemetry, fast interlocks.
+- [ ] Manual-session log and telemetry CSV written to `/data/manual/{session_id}/`.
+- [ ] Status file updated at `/data/status.json`.
+
+## Phase 4 — Safety and commissioning
+
+- [ ] E-stop behavior verified independently of software state.
+- [ ] Force over-limit, encoder loss, drive fault, F/T invalid/stale faults verified.
+- [ ] Host watchdog and firmware heartbeat verified.
+- [ ] FAULTED exits only by explicit operator reset.
+- [ ] Tool-weight compensation offset commissioned and logged.
+
+## Phase 5 — Controller-job dry run
+
+- [ ] `controller-job.v1` 4-gate intake implemented.
+- [ ] Segment lifecycle exercised on bench/simulator.
+- [ ] `run-log.v1` emitted with commanded-vs-actual structure.
+- [ ] Program execution remains disabled for production until Antoine explicitly accepts readiness.