Start Here — Cédric Build Brief

Mission

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.

v1 priority order

Safety/interlocks and deterministic state machine.
Manual mode from the touchscreen / host UI.
Stable host↔Teensy setpoint + telemetry protocol.
KWR75B-CAN force/torque acquisition and stale-frame detection.
Table/arm encoder acquisition and synchronized timestamps.
ODrive spindle command/telemetry path.
Run/manual logs and /data/ file layout.
Controller-job intake dry-run for future program execution.

Mental model

The host says: "run these approved setpoints and log what happens."

The Teensy says: "accepted/rejected, here is measured reality, here are events/faults."

Neither side invents polishing strategy.

Ask Nick for

protocol notes;
firmware module breakdowns;
test checklists;
telemetry schema clarifications;
state-machine/safety edge cases;
concise implementation notes in docs/nick-generated/;
feature-request classification using docs/11-feature-request-intake.md.

If you are using an LLM/coding assistant

Start with 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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