docs: scaffold polisher-control foundation

docs/00-start-here.md

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+# Start Here — Cédric Build Brief
+
+## Mission
+
+Build the machine-side control stack for the Fullum swing-arm polisher so Normand can run manual polishing sessions safely while producing clean telemetry for the rest of the software suite.
+
+## v1 priority order
+
+1. Safety/interlocks and deterministic state machine.
+2. Manual mode from the touchscreen / host UI.
+3. Stable host↔Teensy setpoint + telemetry protocol.
+4. KWR75B-CAN force/torque acquisition and stale-frame detection.
+5. Table/arm encoder acquisition and synchronized timestamps.
+6. ODrive spindle command/telemetry path.
+7. Run/manual logs and `/data/` file layout.
+8. Controller-job intake dry-run for future program execution.
+
+## Mental model
+
+The host says: "run these approved setpoints and log what happens."
+
+The Teensy says: "accepted/rejected, here is measured reality, here are events/faults."
+
+Neither side invents polishing strategy.
+
+## Ask Nick for
+
+- protocol notes;
+- firmware module breakdowns;
+- test checklists;
+- telemetry schema clarifications;
+- state-machine/safety edge cases;
+- concise implementation notes in `docs/nick-generated/`.