Polisher-Control/ROADMAP.md

Polisher-Control Roadmap

Phase 0 — Repository foundation

• Create repository structure.
• Add ecosystem boundary docs.
• Add v1 scope and acceptance checklist.
• Add host/firmware scaffolds.
• Mirror current shared schemas.

Phase 1 — Contracts first

• Lock protocol frame format: message IDs, payload layout, CRC, ACK/NACK.
• Lock telemetry channel list, units, rates, validity encoding.
• Lock event/alarm code table.
• Validate controller-job.v1 and run-log.v1 fixtures.
• Implement host-side state machine tests before hardware logic grows.

Phase 2 — Teensy bench bring-up

• Teensy boot/status heartbeat.
• Host↔Teensy serial link with ACK/NACK and CRC.
• KWR75B-CAN receive path with measured sample rate and stale-frame watchdog.
• Encoder acquisition for table and arm.
• ODrive command/telemetry interface selected and documented, including sign mapping for cw/ccw physical tool rotation.
• Force actuator command path selected and documented.

Phase 3 — Manual mode MVP

• Host UI/manual-mode workflow with geometric gate.
• Manual setpoints: force, table RPM, spindle RPM, spindle direction (cw/ccw), optional modulation.
• Teensy inner loop: setpoint ramping, force PID, telemetry, fast interlocks.
• Manual-session log and telemetry CSV written to /data/manual/{session_id}/.
• Status file updated at /data/status.json.

Phase 4 — Safety and commissioning

• E-stop behavior verified independently of software state.
• Force over-limit, encoder loss, drive fault, F/T invalid/stale faults verified.
• Host watchdog and firmware heartbeat verified.
• FAULTED exits only by explicit operator reset.
• Tool-weight compensation offset commissioned and logged.

Phase 5 — Controller-job dry run

• controller-job.v1 4-gate intake implemented.
• Segment lifecycle exercised on bench/simulator.
• run-log.v1 emitted with commanded-vs-actual structure.
• Program execution remains disabled for production until Antoine explicitly accepts readiness.