Difference between revisions of "Todo"
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− | + | {{ceb_private}} | |
− | + | {{ceb_prj}} | |
− | + | {{pf_top_nav}} | |
+ | [http://mediawiki.dideas.com/index.php?title=Special:RecentChanges&limit=100&days=30&hideminor= Recent Edits] | ||
+ | [http://mediawiki.dideas.com/index.php?title=Special:NewPages NEW PAGES] | ||
+ | [http://.../svn/svn_engineering/PowerFoot/trunk/H22/firmware] | ||
+ | [http://iportal.intra.intelliwalk/twiki/bin/view/Main/EmbeddedH22] | ||
+ | =2014= | ||
+ | ==roof repair== | ||
+ | *vent pipe opening | ||
+ | *chimney | ||
+ | |||
+ | ==smaller projects== | ||
+ | *install bathroom fan | ||
+ | *install whole house fan | ||
+ | *DONE fix water leak | ||
+ | *done fix drain leak | ||
+ | *DONE fence garden to allow chicken access | ||
+ | *fix mac keyboard | ||
+ | **open - disconnect keyboard - see if trackpad always functions | ||
+ | *fix dell keyboard | ||
+ | *order window for BR and SR | ||
+ | *laundry room faucet | ||
+ | *done kitchen faucet | ||
+ | *build hatcher | ||
+ | *build / test new incubator | ||
+ | **order SSR from MPJA | ||
+ | *garden hose on porch | ||
+ | **order plumbing fixtures | ||
+ | **drill hole | ||
+ | *hot water for util sink | ||
+ | *need better drain for util sink | ||
+ | *sink in garage | ||
+ | *run electrical to CH | ||
+ | *run water to CH | ||
+ | *run water to garden | ||
+ | *run water / electrical to pond | ||
+ | *install pond pump | ||
+ | |||
+ | ==big projects== | ||
+ | *DONE insulate porch roof | ||
+ | *finish porch window trim | ||
+ | *DONE swing set and sand box | ||
+ | *install split AC | ||
+ | *deck around porch | ||
+ | *repair covered area roof (replace roof) | ||
+ | *deck on covered area | ||
+ | *replace furnace | ||
+ | *fix garage electrical mess (in progress) | ||
+ | *house water filter | ||
+ | *DONE replace window in BR | ||
+ | *DONE replace sliding door in SR | ||
+ | |||
+ | ==garden== | ||
+ | *thur - finish planting NW corner | ||
+ | **bring in top soil | ||
+ | **soybeans in the sandy part | ||
+ | **?? on the 3 remaining hills | ||
+ | *fri - S strip | ||
+ | **corn? | ||
+ | **peas? | ||
+ | *sat - SW | ||
+ | **butter nut | ||
+ | **cucumber | ||
+ | *sun - finish up? | ||
+ | **asparagus | ||
+ | |||
+ | ==PCB projects== | ||
+ | *24V buck for power tools | ||
+ | *lawnmower booster | ||
+ | |||
+ | =2012 Q4= | ||
+ | *DONE install piano room door | ||
+ | **need to finish trim and install handle | ||
+ | *DONE install sliding door | ||
+ | *DONE order PEX plumbing fixtures | ||
+ | *install electrical | ||
+ | *DONE cut down tree | ||
+ | |||
+ | =2012 sep goals= | ||
+ | *order replacement sliding door | ||
+ | *build chicken house | ||
+ | *better crib | ||
+ | *window shelves | ||
+ | *estimates for fuse box replacement | ||
+ | |||
+ | =2012 goals= | ||
+ | *green house | ||
+ | *weld | ||
+ | *freon | ||
+ | *stone tools | ||
+ | *chainsaw mill | ||
+ | *improve the house deck | ||
+ | Sep 2012 LOL - bascially none of these things done! | ||
+ | |||
+ | =mar 2012 todo= | ||
+ | *plant spinach / radish | ||
+ | *done relocate chickens | ||
+ | *done plant indoor seeds (do in Feb next year) | ||
+ | *done buy chainsaw mill | ||
+ | |||
+ | =feb 2012 todo= | ||
+ | *11:30am (23rd) 692. 2:30pm (21st) 682 | ||
+ | *done order chainsaw mill | ||
+ | *order gas chainsaw | ||
+ | *water filters: | ||
+ | **filter bags | ||
+ | **activated carbon (loose) | ||
+ | **limestone | ||
+ | *animals: | ||
+ | **chicken fence | ||
+ | **electric fence for garden | ||
+ | **electric fence for yard / goats | ||
+ | **mobile chicken coup | ||
+ | *seeds: | ||
+ | **D select various legumes for seeding yard | ||
+ | **D wild flowers | ||
+ | *D purchase wheel barowel | ||
+ | *purchase mini-tractor and wagon | ||
+ | *NA purchase top load washer | ||
+ | *D order garden seeds | ||
+ | *D order live trees and bushes | ||
+ | |||
+ | =oct 2011 todo= | ||
+ | |||
+ | ==prof== | ||
+ | *complete motor test | ||
+ | **implementation in benchtest could be adequate. does rotation and simple analysis ; could print "PASSED" and "FAILED" with little effort | ||
+ | **working on complete fully automated test that measurements resistance of coils, the speed constant, and the encoder behavior | ||
+ | *imutest | ||
+ | **board is horizontally mounted. need to understand the expected range of offsets and noise | ||
+ | **runs the self test which causes a somewhat known deflection | ||
+ | |||
+ | ==pers== | ||
+ | *sign offer | ||
+ | *CVS photo | ||
+ | *contact PP office - reschedule | ||
+ | *goto PP office | ||
+ | *pickup PP | ||
+ | *book hotel in Sarain | ||
+ | *create CV | ||
+ | *Carlisle townhall | ||
+ | *schedule inspections | ||
+ | |||
+ | |||
+ | |||
+ | =ric= | ||
+ | *take back S ankle and upgrade swifi and send back | ||
+ | *take back router | ||
+ | *send pic32 board | ||
+ | *send code for decode of ankle comm | ||
+ | *send pinouts and headers | ||
+ | *update baudrate in swifi | ||
+ | *find out firm versions [[Ric]] | ||
+ | |||
+ | =H22= | ||
+ | *create Admin account on mac | ||
+ | *install pyserial on mac | ||
+ | |||
+ | [[H22_todo]] | ||
+ | |||
+ | =Geeks= | ||
+ | *where is mediawiki | ||
+ | |||
+ | =todo= | ||
+ | *docs for central coating | ||
+ | *assemble a ptoyotype AKENC4b | ||
+ | *order AM256q devices. | ||
+ | *assemble a prototype BATMOD2 w/FETs | ||
+ | *new board submission for BATRCP and BATMOD | ||
+ | *code up CRC database for python | ||
+ | |||
+ | *EEPROM tables. | ||
+ | *code for dashboard | ||
+ | *code for 3rd encoder. | ||
+ | |||
+ | |||
+ | * contact RLS re the effect of magnet size. | ||
+ | * need 5 AKENC3d by Nov 8th | ||
+ | |||
+ | |||
+ | * KNEE3 controller | ||
+ | * SPI quad uart w/IMU | ||
+ | * AKENC3d and AKENC4 | ||
+ | * WIP4E (w/dual by 9 connector) | ||
+ | * PSER2 and PSER1 | ||
− | |||
− | |||
− | |||
+ | *when in H2, the torque can be off by 40. | ||
+ | *ac relax mode, use pitch vel | ||
+ | *should be a function of PCI. 5 by default, increase to 10 or 15 | ||
+ | =2.2= | ||
+ | *add support for the high res encoder | ||
+ | **calb stop | ||
+ | **MC imped | ||
+ | ** | ||
+ | *calb tables | ||
+ | *install 5a encoder | ||
+ | **calb stop needs to capture | ||
+ | *write new calb app, that does its own analysis | ||
+ | ** | ||
+ | *for each pair of encoders, estimate ball nut position | ||
+ | *new PCB submission (fixed batrcp, and batmod) | ||
+ | * | ||
+ | =2.3= | ||
+ | *NION | ||
+ | * | ||
− | + | =old= | |
− | + | high speed at swing | |
+ | want no power overall - for weeks - no recharge | ||
+ | need torque speed curves | ||
− | |||
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− | + | [[todo_ca]] | |
*http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500 | *http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500 | ||
*http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y | *http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y | ||
[[cb_soup]] | [[cb_soup]] | ||
− | |||
=todo= | =todo= | ||
* invoice MEKA, IW | * invoice MEKA, IW | ||
+ | * DC sine sweep | ||
+ | * random noise. | ||
+ | * investigate torque ripple | ||
+ | * add docs for 1120 commands, add docs for do command, add docs for robo_config. | ||
+ | * make SWIFI w/6 serial ports and connector for EMG | ||
+ | * make Ken specific MC board. | ||
+ | *investigate apparent current overflows with large backdrive freq. | ||
+ | *recode PI loop to saturate Isum | ||
+ | *make separate MC project for life fix. Will have condition compilation and large code model | ||
+ | *have MC send back more info about the LF - eg position in thrust table. | ||
+ | *have MC send back LF binary state variables. | ||
+ | *integrate wifi_fast into run_life fix. | ||
+ | *write python to review data from the SWIFI | ||
+ | * locate SWIFI connectors. | ||
==lab== | ==lab== | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
*For DY : My main code is : | *For DY : My main code is : | ||
**https://svn.media.mit.edu/r/biomech/trunk/prostheticsteam/code/cbarn/src/ankle | **https://svn.media.mit.edu/r/biomech/trunk/prostheticsteam/code/cbarn/src/ankle | ||
Line 44: | Line 251: | ||
* locate connectors for ADIS or purchase | * locate connectors for ADIS or purchase | ||
− | |||
− | |||
− | |||
− | |||
* PCB run - merge SWIFI and IMU and BLMD SPI breakout? (eg SPI swifi) | * PCB run - merge SWIFI and IMU and BLMD SPI breakout? (eg SPI swifi) | ||
Line 175: | Line 378: | ||
PO BOX 24489 | PO BOX 24489 | ||
Indianapolis IN 46224 | Indianapolis IN 46224 | ||
+ | [[Media:Example.ogg]] |
Latest revision as of 17:18, 11 July 2017
- ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T
- garden12 ; emg_2009 ; Enc_2010 ; AKENC ; Kknee1 ; Br46_v1 gps1 ; lifefix ; battery ; loadwasher ; elecdog ; Brushless_control ; ceb_misc_prj ; pf_top_nav ; T
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
Edit Recent Edits NEW PAGES [1] [2]
Contents
2014
roof repair
- vent pipe opening
- chimney
smaller projects
- install bathroom fan
- install whole house fan
- DONE fix water leak
- done fix drain leak
- DONE fence garden to allow chicken access
- fix mac keyboard
- open - disconnect keyboard - see if trackpad always functions
- fix dell keyboard
- order window for BR and SR
- laundry room faucet
- done kitchen faucet
- build hatcher
- build / test new incubator
- order SSR from MPJA
- garden hose on porch
- order plumbing fixtures
- drill hole
- hot water for util sink
- need better drain for util sink
- sink in garage
- run electrical to CH
- run water to CH
- run water to garden
- run water / electrical to pond
- install pond pump
big projects
- DONE insulate porch roof
- finish porch window trim
- DONE swing set and sand box
- install split AC
- deck around porch
- repair covered area roof (replace roof)
- deck on covered area
- replace furnace
- fix garage electrical mess (in progress)
- house water filter
- DONE replace window in BR
- DONE replace sliding door in SR
garden
- thur - finish planting NW corner
- bring in top soil
- soybeans in the sandy part
- ?? on the 3 remaining hills
- fri - S strip
- corn?
- peas?
- sat - SW
- butter nut
- cucumber
- sun - finish up?
- asparagus
PCB projects
- 24V buck for power tools
- lawnmower booster
2012 Q4
- DONE install piano room door
- need to finish trim and install handle
- DONE install sliding door
- DONE order PEX plumbing fixtures
- install electrical
- DONE cut down tree
2012 sep goals
- order replacement sliding door
- build chicken house
- better crib
- window shelves
- estimates for fuse box replacement
2012 goals
- green house
- weld
- freon
- stone tools
- chainsaw mill
- improve the house deck
Sep 2012 LOL - bascially none of these things done!
mar 2012 todo
- plant spinach / radish
- done relocate chickens
- done plant indoor seeds (do in Feb next year)
- done buy chainsaw mill
feb 2012 todo
- 11:30am (23rd) 692. 2:30pm (21st) 682
- done order chainsaw mill
- order gas chainsaw
- water filters:
- filter bags
- activated carbon (loose)
- limestone
- animals:
- chicken fence
- electric fence for garden
- electric fence for yard / goats
- mobile chicken coup
- seeds:
- D select various legumes for seeding yard
- D wild flowers
- D purchase wheel barowel
- purchase mini-tractor and wagon
- NA purchase top load washer
- D order garden seeds
- D order live trees and bushes
oct 2011 todo
prof
- complete motor test
- implementation in benchtest could be adequate. does rotation and simple analysis ; could print "PASSED" and "FAILED" with little effort
- working on complete fully automated test that measurements resistance of coils, the speed constant, and the encoder behavior
- imutest
- board is horizontally mounted. need to understand the expected range of offsets and noise
- runs the self test which causes a somewhat known deflection
pers
- sign offer
- CVS photo
- contact PP office - reschedule
- goto PP office
- pickup PP
- book hotel in Sarain
- create CV
- Carlisle townhall
- schedule inspections
ric
- take back S ankle and upgrade swifi and send back
- take back router
- send pic32 board
- send code for decode of ankle comm
- send pinouts and headers
- update baudrate in swifi
- find out firm versions Ric
H22
- create Admin account on mac
- install pyserial on mac
Geeks
- where is mediawiki
todo
- docs for central coating
- assemble a ptoyotype AKENC4b
- order AM256q devices.
- assemble a prototype BATMOD2 w/FETs
- new board submission for BATRCP and BATMOD
- code up CRC database for python
- EEPROM tables.
- code for dashboard
- code for 3rd encoder.
- contact RLS re the effect of magnet size.
- need 5 AKENC3d by Nov 8th
- KNEE3 controller
- SPI quad uart w/IMU
- AKENC3d and AKENC4
- WIP4E (w/dual by 9 connector)
- PSER2 and PSER1
- when in H2, the torque can be off by 40.
- ac relax mode, use pitch vel
- should be a function of PCI. 5 by default, increase to 10 or 15
2.2
- add support for the high res encoder
- calb stop
- MC imped
- calb tables
- install 5a encoder
- calb stop needs to capture
- write new calb app, that does its own analysis
- for each pair of encoders, estimate ball nut position
- new PCB submission (fixed batrcp, and batmod)
2.3
- NION
old
high speed at swing want no power overall - for weeks - no recharge need torque speed curves
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y
todo
- invoice MEKA, IW
- DC sine sweep
- random noise.
- investigate torque ripple
- add docs for 1120 commands, add docs for do command, add docs for robo_config.
- make SWIFI w/6 serial ports and connector for EMG
- make Ken specific MC board.
- investigate apparent current overflows with large backdrive freq.
- recode PI loop to saturate Isum
- make separate MC project for life fix. Will have condition compilation and large code model
- have MC send back more info about the LF - eg position in thrust table.
- have MC send back LF binary state variables.
- integrate wifi_fast into run_life fix.
- write python to review data from the SWIFI
- locate SWIFI connectors.
lab
- For DY : My main code is :
- locate connectors for ADIS or purchase
- PCB run - merge SWIFI and IMU and BLMD SPI breakout? (eg SPI swifi)
Aug 09
- car insurance - discuss metlife w/DWB
- MITFCU - call about fees for savings/ money market.
- Report expenses for Chicago trip
- Locate receipts for MIT video card purchases.
- contact WI re sales tax collection error
IW
- test RTOS
- PCB - isolated RS232, SWIFIs
7-10-09
- for monday - damping FF at zero degrees.
- send out loadwasher.
7-4-09
- force fields are loaded automatically, need to ENABLE
- (yesterday)(fixed issues of feature bits and runleve.
- SC - check for hall zero - but to correct, need the spline table.
7-3-09
- force fields are loaded automatically, need to ENABLE
- IMU automatically on (why is EEPROM ignored?) (believe causes by feature bits in walking_param)
- check for hall zero location
- chech for normal SG offset.
- PVF engages at zero vel crossing, allow for vel-offset.
7-2-09
- IMU signal processing
- accelerometer, direct output ; ratiometric, powered by 3.0V ref
- z axis gyro : powered by 5V, uses 3.0V ref on Vratio, 267k at Sumj; dynamic rage = 500 deg/sec
- x&y gyro : 3v power supply
- gyro and accl signals all have 1k, 0.1uF RC filter
6-30-09 todo
- zero encoder based on calibrated hall sensor.
- write python program to bump overload parameters, and monitor max
- PC programs to load/save defaults
- program to convert matlab calb files into python calb table
before next track test
- create a command that has a single parameter to specify the type of code to run
- wake into mode 0, sensors are operational (for test jig)
- wake into mode 0, but also do commutation (for test jig where AK will be driven.)
- wake into walking mode, with impulse current = 0
- wake into walking mode, using EEPROM defaults, but impulse current = 0
- wake into walking mode, using EEPROM defaults, with impulse current
- DEMO mode : using EEPROM defaults, relaxed enabled, full impulse current
- ability to specify which EEPROM table is the default.
- ability to read out the SG offset log - seems to have an issue...
- DONE : use CRC with WIFI_FAST
- MORE WORK : load / save walking parameters
- IS USED FOR HALL SENSOR : use calibration table
- TODO : use motor current offset.
- VERIFY : use force fields
- TODO : glue down hall sensor.
statemachine
- detech motor faults - just to holding state.
- overload warning - detect and servo to safe position.
- integrate in the EEPROM code.
- VERIFY : during swing issue a test current into the motor to measure it's resistance (store somewhere)
- statemachine - look at MC offset, if there is much disagreement with defaults then signal error
- statemachine - log SG offsets
- add thermal model for motor and ACS712 to state controller
- code to make sure the motor is moving correctly when reseting the encoder.
- learn to use the EEPROM. log SG torque at boot, and during each step.
- capture initial SG offset into EEPROM
- capture SG offset during swing into EEPROM
PCB IW812a
- encoder breakout
- current sensor - isense1 (unipolar)
- faux SG board
- sg breakouts x 4
- pser1d - udp compat pser
- fup1 - gender changer
PCB todo
4 layer
- re-spin motor and state controllers? Knee PCB?
- send out PSER1D and other boards in 4layer nice.
- WIFI w/2Meg RAM
- electronic fuse, ballancer, ON/OFF switch - battery pack less the charger.
- FUP flash drive datalogger.
- if needed - FUP datalogger w/Wifi / BT and 2meg ram
- motor voltage circuit
- In VNC1 : change 3.3V regulator to MCP1700, 3.3V ; 2.2M resistor to 2.0Meg; voltage and resistor for the LT3470 regulator
old
- verify thermal models Thermal data
- need a way to verify that TVS is operational. need to see what effect T has on TVS voltage.
- MC code improvement
- verify Q15 operation of code on MC
- MC feedforward.
- motor controller safety and thermal model for motor and FETs - needs to stop motor....
- motor commands needs to allow readback of selected sensor (so we can cycle through lots of sensors)
- current measurement PCB (with Y voltage measure)
- encoder breakout boards
- SG breakout boards
- new WIFI wireless
CEB NOTES
PO BOX 24489 Indianapolis IN 46224 Media:Example.ogg