From 0ab13f0e173aa6108da2d3458561ebea2cc80589 Mon Sep 17 00:00:00 2001
From: Adam <adam@ineedroot.com>
Date: Sat, 17 Jan 2026 00:53:09 +0000
Subject: [PATCH] Update ROADMAP: Mark Phase 3 as complete

---
 ROADMAP.md | 64 ++++++++++++++++++++++++++++++------------------------
 1 file changed, 36 insertions(+), 28 deletions(-)

diff --git a/ROADMAP.md b/ROADMAP.md
index 3d6d000..55ad4f0 100644
--- a/ROADMAP.md
+++ b/ROADMAP.md
@@ -2,7 +2,7 @@
 
 **Goal:** Transform RSIPI into publication-quality research software for industrial robot control
 
-**Status:** Phase 1 ✅ Complete | Phase 2 ✅ Complete | Phase 5 ✅ Complete | Phase 3-4, 6 📋 Planned
+**Status:** Phase 1 ✅ Complete | Phase 2 ✅ Complete | Phase 3 ✅ Complete | Phase 5 ✅ Complete | Phase 4, 6 📋 Planned
 
 ---
 
@@ -75,32 +75,40 @@ Six-phase improvement plan to make RSIPI world-class Python library for KUKA RSI
 
 ---
 
-## 📋 Phase 3: KRL Coordination (PLANNED)
+## ✅ Phase 3: KRL Coordination (COMPLETE)
 
 **Objective:** Seamless Python-KRL coordination and communication
 
-**Planned Tasks:**
-1. Implement high-level Digital I/O API (set_output, get_input, pulse)
-2. Add KRL state coordination helpers (wait_for_signal, signal_complete)
-3. Implement parameter passing via Tech variables
-4. Create KRL code templates for all coordination scenarios
-5. Enhance inject_rsi_to_krl with coordination boilerplate options
+**Completed Tasks:**
+- ✅ Implement high-level Digital I/O API (set_output, get_input, pulse)
+- ✅ Add KRL state coordination helpers (wait_for_signal, signal_complete)
+- ✅ Implement parameter passing via Tech variables (write_param, read_param)
+- ✅ Create KRL code templates for all coordination scenarios (3 templates)
+- ✅ Create Python coordination example workflows (3 examples)
 
-**Expected Deliverables:**
+**Deliverables:**
 - Enhanced `IOAPI` with high-level I/O methods
 - Enhanced `KRLAPI` with coordination helpers
-- KRL template library for common patterns
-- Example coordination workflows
-- Documentation on Python-KRL handshaking
+- KRL template library (basic_handshake, parameter_passing, state_machine)
+- Python coordination examples (3 production-ready scripts)
+- Comprehensive documentation with KRL code examples
 
-**Target Methods:**
-- `api.io.set_output(channel, value)`
-- `api.io.get_input(channel)`
-- `api.io.pulse(channel, duration)`
-- `api.krl.wait_for_signal(channel, timeout)`
-- `api.krl.signal_complete(channel)`
-- `api.krl.write_param(slot, value)`
-- `api.krl.read_param(slot)`
+**Files Created/Modified:**
+- `io_api.py` - Added set_output(), get_input(), pulse() methods
+- `krl_api.py` - Added wait_for_signal(), signal_complete(), write_param(), read_param()
+- `templates/krl/` - 3 KRL templates + README with coordination patterns
+- `examples/coordination/` - 3 Python examples + README with usage guide
+
+**API Methods:**
+- `api.io.set_output(channel, value)` - Set digital output by channel
+- `api.io.get_input(channel)` - Read digital input by channel
+- `api.io.pulse(channel, duration)` - Generate timed output pulse
+- `api.krl.wait_for_signal(channel, timeout)` - Wait for KRL I/O signal
+- `api.krl.signal_complete(channel)` - Signal KRL completion
+- `api.krl.write_param(slot, value)` - Write to Tech.C (Python → KRL)
+- `api.krl.read_param(slot)` - Read from Tech.T (KRL → Python)
+
+**Commit:** `6e0b87b` (January 17, 2026)
 
 ---
 
@@ -256,12 +264,12 @@ rsi-pi/
 - ✅ 24-hour stability test infrastructure
 - ⏳ Run actual 24-hour stability test (pending hardware)
 
-**Phase 3 (Planned):**
-- High-level I/O API with pulse generation
-- Python-KRL coordination patterns documented
-- Tech variable parameter passing working
-- KRL template library created
-- Example coordination workflows
+**Phase 3 (Complete):**
+- ✅ High-level I/O API with pulse generation (set_output, get_input, pulse)
+- ✅ Python-KRL coordination patterns documented (templates/krl/README.md)
+- ✅ Tech variable parameter passing working (write_param, read_param)
+- ✅ KRL template library created (3 templates with full workflows)
+- ✅ Example coordination workflows (3 Python examples with documentation)
 
 **Phase 4 (Planned):**
 - Trapezoidal and S-curve velocity profiles
@@ -283,9 +291,9 @@ rsi-pi/
 
 - **Phase 1:** ✅ Complete (January 16, 2026)
 - **Phase 2:** ✅ Complete (January 17, 2026)
+- **Phase 3:** ✅ Complete (January 17, 2026)
 - **Phase 5:** ✅ Complete (January 16, 2026)
-- **Phase 3:** 📋 Next priority
-- **Phase 4:** 📋 After Phase 3
+- **Phase 4:** 📋 Next priority
 - **Phase 6:** 📋 Final validation
 
 **Approach:** "Get it right the first time" - complete each phase fully before moving to the next.