34 lines
1.1 KiB
Markdown
34 lines
1.1 KiB
Markdown
# 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/`.
|