# v1 Scope

## In scope

- Manual mode with live operator setpoints.
- Full safety/interlock handling.
- Host↔Teensy command/telemetry protocol.
- KWR75B-CAN force/torque sensor integration.
- Table and arm encoder acquisition.
- ODrive S1 + M8325s spindle control/telemetry path.
- Force actuator command path and tool-weight compensation.
- Synchronized telemetry at >=100 Hz.
- Manual-session logs and raw telemetry CSV.
- USB SSD `/data/` storage layout.
- `status.json` machine summary.
- Controller-job validation path for future use.

## Explicitly not in v1

- Figuring strategy.
- Metrology import/interpretation.
- Calibration updates.
- Autonomous optimization.
- Powered Zero-G/admittance manipulation mode.
- Remote control of the machine.
- Multi-pass orchestration inside the controller.

## First success condition

A real manual polishing session can be run safely, and the resulting telemetry/logs are coherent enough for Antoine to analyze downstream.