50 lines
2.1 KiB
Markdown
50 lines
2.1 KiB
Markdown
# Polisher-Control Roadmap
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## Phase 0 — Repository foundation
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- [x] Create repository structure.
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- [x] Add ecosystem boundary docs.
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- [x] Add v1 scope and acceptance checklist.
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- [x] Add host/firmware scaffolds.
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- [x] Mirror current shared schemas.
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## Phase 1 — Contracts first
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- [ ] Lock protocol frame format: message IDs, payload layout, CRC, ACK/NACK.
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- [ ] Lock telemetry channel list, units, rates, validity encoding.
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- [ ] Lock event/alarm code table.
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- [ ] Validate `controller-job.v1` and `run-log.v1` fixtures.
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- [ ] Implement host-side state machine tests before hardware logic grows.
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## Phase 2 — Teensy bench bring-up
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- [ ] Teensy boot/status heartbeat.
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- [ ] Host↔Teensy serial link with ACK/NACK and CRC.
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- [ ] KWR75B-CAN receive path with measured sample rate and stale-frame watchdog.
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- [ ] Encoder acquisition for table and arm.
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- [ ] ODrive command/telemetry interface selected and documented, including sign mapping for `cw`/`ccw` physical tool rotation.
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- [ ] Force actuator command path selected and documented.
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## Phase 3 — Manual mode MVP
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- [ ] Host UI/manual-mode workflow with geometric gate.
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- [ ] Manual setpoints: force, table RPM, spindle RPM, spindle direction (`cw`/`ccw`), optional modulation.
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- [ ] Teensy inner loop: setpoint ramping, force PID, telemetry, fast interlocks.
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- [ ] Manual-session log and telemetry CSV written to `/data/manual/{session_id}/`.
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- [ ] Status file updated at `/data/status.json`.
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## Phase 4 — Safety and commissioning
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- [ ] E-stop behavior verified independently of software state.
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- [ ] Force over-limit, encoder loss, drive fault, F/T invalid/stale faults verified.
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- [ ] Host watchdog and firmware heartbeat verified.
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- [ ] FAULTED exits only by explicit operator reset.
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- [ ] Tool-weight compensation offset commissioned and logged.
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## Phase 5 — Controller-job dry run
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- [ ] `controller-job.v1` 4-gate intake implemented.
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- [ ] Segment lifecycle exercised on bench/simulator.
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- [ ] `run-log.v1` emitted with commanded-vs-actual structure.
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- [ ] Program execution remains disabled for production until Antoine explicitly accepts readiness.
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