39 lines
1.4 KiB
Markdown
39 lines
1.4 KiB
Markdown
# Start Here — Cédric Build Brief
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## Mission
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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.
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## v1 priority order
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1. Safety/interlocks and deterministic state machine.
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2. Manual mode from the touchscreen / host UI.
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3. Stable host↔Teensy setpoint + telemetry protocol.
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4. KWR75B-CAN force/torque acquisition and stale-frame detection.
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5. Table/arm encoder acquisition and synchronized timestamps.
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6. ODrive spindle command/telemetry path.
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7. Run/manual logs and `/data/` file layout.
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8. Controller-job intake dry-run for future program execution.
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## Mental model
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The host says: "run these approved setpoints and log what happens."
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The Teensy says: "accepted/rejected, here is measured reality, here are events/faults."
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Neither side invents polishing strategy.
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## Ask Nick for
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- protocol notes;
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- firmware module breakdowns;
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- test checklists;
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- telemetry schema clarifications;
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- state-machine/safety edge cases;
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- concise implementation notes in `docs/nick-generated/`;
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- feature-request classification using `docs/11-feature-request-intake.md`.
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## If you are using an LLM/coding assistant
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Start with [`LLM_CONTEXT.md`](LLM_CONTEXT.md), then load the narrower docs relevant to the change you are making. Do not let the LLM infer optical strategy or change safety/protocol/telemetry contracts without Antoine approval.
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