38 lines
1.2 KiB
Markdown
38 lines
1.2 KiB
Markdown
---
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title: Polisher-Control Repository Foundation
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status: draft
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requested_by: Antoine Letarte
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generated_by: Nick / Hermes
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project: P11-Polisher-Fullum
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repo: polisher-control
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source_truth: false
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created: 2026-05-26
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privacy: technical-only
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---
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# Polisher-Control Repository Foundation
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## Purpose
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Give Cédric a clean starting point for the machine-side control implementation without mixing in upstream planning or private project context.
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## What to build first
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1. Host↔Teensy protocol and ACK/NACK behavior.
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2. State machine and illegal-transition tests.
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3. KWR75B-CAN receive path and F/T validity/stale-frame watchdog.
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4. Manual mode with geometric gate.
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5. Telemetry CSV and manual-session log.
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6. Safety interlock behavior.
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## Key instruction
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Manual mode is not a throwaway mode. Manual telemetry is the calibration dataset for the entire future digital-twin loop. Keep channel names, timestamps, setpoint history, and force/angle data stable from the start.
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## Acceptance checks
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- [ ] Normand can run manual mode safely.
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- [ ] Every session produces telemetry and a manual-session log.
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- [ ] Every fault or rejected command is visible as an event/alarm.
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- [ ] The controller never invents polishing strategy.
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