Adopt the glossary's vocabulary in the mutable design docs

"control plane" -> controller and "substrate" -> foundation throughout
03-DESIGN, 00-META and the README, with 06-the-control-plane.md and
07-the-substrate.md renamed to 06-the-controller.md and 07-the-foundation.md.
The immutable 02-DECISIONS records keep their original wording (and links to
them are unchanged) — a term retired here may still appear there, which the
glossary explains how to read.

Claude-Session: https://claude.ai/code/session_01D6qtiYU3P9jk3pnAXyAFyx
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@@ -124,7 +124,7 @@ ingest/ingest.py emit("module.showcase.ingested", …) → events, emitti
### Step 3 — the mesh does the rest
You do not write a Dockerfile, a unit file, or a port number. The builder picks the toolchain from
the language, compiles each artifact alone, and publishes it. The control plane assigns the machine
the language, compiles each artifact alone, and publishes it. The controller assigns the machine
and the ports; the host writes the units.
### What it costs you to use four languages