Polisher-Control/docs/07-manual-mode-workflow.md

Manual Mode Workflow

Operator flow

1. Hardware HOA selector in Auto.
2. Machine in IDLE.
3. Operator selects Manual Mode.
4. UI presents the geometric gate:
   • r_menante
   • L_menee
   • R_tool
   • configured arm amplitude
   • configured arm center
5. Operator confirms values.
6. Operator enters setpoints:
   • force N
   • table RPM
   • spindle RPM
   • spindle rotation direction: clockwise (cw) or counter-clockwise (ccw) as viewed from above the toolhead looking down toward the mirror/tool contact
   • optional force modulation harmonic/amplitude/phase
7. Operator presses Start.
8. Host sends MANUAL_START.
9. Operator may adjust setpoints live.
10. Operator presses Stop.
11. Host writes the manual-session log, telemetry CSV, events, manifest, and status.

Hard rules

• Manual mode cannot start with stale geometry.
• Manual mode uses the same safety/interlocks as job mode.
• Every setpoint change is logged, including spindle direction changes.
• Telemetry always runs while force/motion is active.
• Tool removal uses the documented mechanical sequence; no powered Zero-G in v1.