Polisher-Control/docs/02-v1-scope.md

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.