Polisher-Control/docs/00-start-here.md

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

1. Safety/interlocks and deterministic state machine.
2. Manual mode from the touchscreen / host UI.
3. Stable host↔Teensy setpoint + telemetry protocol.
4. KWR75B-CAN force/torque acquisition and stale-frame detection.
5. Table/arm encoder acquisition and synchronized timestamps.
6. ODrive spindle command/telemetry path.
7. Run/manual logs and /data/ file layout.
8. 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/.