docs: scaffold polisher-control foundation

shared/machine/fullum-alpha.capabilities.v1.json

@@ -0,0 +1,130 @@
+{
+  "schema_version": "machine-capabilities.v1",
+  "machine_id": "fullum-alpha",
+  "machine_family": "swing-arm",
+  "machine_name": "Fullum swing-arm polisher",
+  "controller_version": "polisher-control/0.1.0",
+  "supported_motion_families": [
+    "swing-arm-rosette"
+  ],
+  "force_range_n": [
+    0,
+    80
+  ],
+  "table_rpm_range": [
+    0,
+    5.0
+  ],
+  "spindle_rpm_range": [
+    0,
+    80
+  ],
+  "cam_amplitude_range_deg": [
+    0,
+    45
+  ],
+  "cam_offset_range_deg": [
+    -30,
+    30
+  ],
+  "force_modulation": {
+    "supported": true,
+    "max_harmonics": 3,
+    "max_amplitude_n": 20.0,
+    "notes": "Angle-synchronized force modulation from live table encoder angle; validate during commissioning."
+  },
+  "supported_dither_profiles": [
+    "none",
+    "default"
+  ],
+  "segment_duration_limits": {
+    "min_s": 10,
+    "max_s": 7200
+  },
+  "pause_resume_support": true,
+  "telemetry_channels": [
+    {
+      "name": "timestamp_us",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "table_angle_deg",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "arm_angle_deg",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "fz_n",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "mx",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "my",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "mz",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "spindle_rpm_actual",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "table_rpm_actual",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "arm_amplitude_deg_derived",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "arm_center_deg_derived",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "machine_state",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    },
+    {
+      "name": "force_setpoint_n",
+      "unit": "see docs/05-telemetry-channel-spec-v1.md",
+      "sample_rate_hz": 100
+    }
+  ],
+  "safety_limits": {
+    "max_force_n": 80,
+    "max_table_rpm": 5.0,
+    "max_spindle_rpm": 80,
+    "notes": "Initial source-aligned limits; final hardware commissioning must verify."
+  },
+  "known_constraints": [
+    "Manual mode is the first production target.",
+    "No powered Zero-G/admittance mode in v1.",
+    "Oscillation amplitude/center are operator-entered configuration in v1, not actuated cam commands.",
+    "Controller rejects unknown controller-job fields rather than silently ignoring them."
+  ],
+  "unknowns": [
+    "Exact KWR75B-CAN frame map, scaling, status bits, and update rate.",
+    "Final ODrive runtime interface and command scaling.",
+    "Final SV2A-2150 torque/current command scaling and Iq monitor mapping.",
+    "Final safety relay model and wiring details."
+  ]
+}