31 lines
973 B
Markdown
31 lines
973 B
Markdown
# v1 Scope
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## In scope
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- Manual mode with live operator setpoints.
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- Full safety/interlock handling.
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- Host↔Teensy command/telemetry protocol.
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- KWR75B-CAN force/torque sensor integration.
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- Table and arm encoder acquisition.
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- ODrive S1 + M8325s spindle control/telemetry path.
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- Force actuator command path and tool-weight compensation.
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- Synchronized telemetry at >=100 Hz.
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- Manual-session logs and raw telemetry CSV.
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- USB SSD `/data/` storage layout.
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- `status.json` machine summary.
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- Controller-job validation path for future use.
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## Explicitly not in v1
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- Figuring strategy.
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- Metrology import/interpretation.
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- Calibration updates.
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- Autonomous optimization.
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- Powered Zero-G/admittance manipulation mode.
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- Remote control of the machine.
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- Multi-pass orchestration inside the controller.
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## First success condition
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A real manual polishing session can be run safely, and the resulting telemetry/logs are coherent enough for Antoine to analyze downstream.
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