Polisher-Control/docs/nick-generated/2026-05-26-polisher-control-foundation.md

title, status, requested_by, generated_by, project, repo, source_truth, created, privacy

title	status	requested_by	generated_by	project	repo	source_truth	created	privacy
Polisher-Control Repository Foundation	draft	Antoine Letarte	Nick / Hermes	P11-Polisher-Fullum	polisher-control	false	2026-05-26	technical-only

Polisher-Control Repository Foundation

Purpose

Give Cédric a clean starting point for the machine-side control implementation without mixing in upstream planning or private project context.

What to build first

1. Host↔Teensy protocol and ACK/NACK behavior.
2. State machine and illegal-transition tests.
3. KWR75B-CAN receive path and F/T validity/stale-frame watchdog.
4. Manual mode with geometric gate.
5. Telemetry CSV and manual-session log.
6. Safety interlock behavior.

Key instruction

Manual mode is not a throwaway mode. Manual telemetry is the calibration dataset for the entire future digital-twin loop. Keep channel names, timestamps, setpoint history, and force/angle data stable from the start.

Acceptance checks

• Normand can run manual mode safely.
• Every session produces telemetry and a manual-session log.
• Every fault or rejected command is visible as an event/alarm.
• The controller never invents polishing strategy.