docs: scaffold polisher-control foundation

firmware/teensy/include/polisher_protocol.h

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+#pragma once
+#include <stdint.h>
+
+enum class MessageType : uint8_t {
+    HEARTBEAT = 1,
+    MANUAL_START = 2,
+    SETPOINT = 3,
+    MANUAL_STOP = 4,
+    SEGMENT_START = 5,
+    PAUSE = 6,
+    RESUME = 7,
+    ABORT = 8,
+    ESTOP = 9,
+    ACK = 100,
+    NACK = 101,
+    TELEMETRY = 102,
+    EVENT = 103,
+    SEGMENT_DONE = 104,
+    ABORT_COMPLETE = 105,
+};
+
+enum class NackReason : uint16_t {
+    NONE = 0,
+    BAD_CRC = 1,
+    BAD_VERSION = 2,
+    ILLEGAL_TRANSITION = 3,
+    GEOMETRY_NOT_VALIDATED = 4,
+    SAFETY_INTERLOCK_ACTIVE = 5,
+    UNSUPPORTED_COMMAND = 6,
+    VALUE_OUT_OF_RANGE = 7,
+};

firmware/teensy/include/polisher_telemetry.h

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+#pragma once
+#include <stdint.h>
+
+struct FT_LoadSample {
+    float Fx;
+    float Fy;
+    float Fz;
+    float Mx;
+    float My;
+    float Mz;
+    uint32_t status;
+};
+
+struct TelemetrySample {
+    uint64_t timestamp_us;
+    float table_angle_deg;
+    float arm_angle_deg;
+    float fz_n;
+    float mx;
+    float my;
+    float mz;
+    float spindle_rpm_actual;
+    float table_rpm_actual;
+    float arm_amplitude_deg_derived;
+    float arm_center_deg_derived;
+    uint8_t machine_state;
+    float force_setpoint_n;
+};