Difference between revisions of "Hours 1008"
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+ | |||
+ | =sun aug 1= | ||
+ | *10:30a - 12:15 | ||
+ | **implement re-scalable tau trajectory. | ||
+ | *12:30-8:45 | ||
+ | **test LV | ||
+ | **test trajectory w/rescaled tau | ||
+ | **implement temp measurement following trahectorey | ||
+ | |||
+ | =mon aug 2= | ||
+ | *10:15a - 9:30p -20 | ||
+ | **discuss new network router w/ED | ||
+ | **experments w/calb stop - how to locate hardstop and its effect on torqie | ||
+ | **calb, test, ship 3 robots to TX. | ||
+ | |||
+ | |||
=tue aug 3= | =tue aug 3= | ||
Line 36: | Line 52: | ||
**explain tuning new tuning parameters. | **explain tuning new tuning parameters. | ||
**capture torque verify data from #11 in TX, | **capture torque verify data from #11 in TX, | ||
− | *9:45p- | + | *9:45p-11:40p |
**work w/GG on code updates in TX, create release 3a | **work w/GG on code updates in TX, create release 3a | ||
+ | |||
+ | =fri aug 6= | ||
+ | *1pm - 1:40p | ||
+ | ** | ||
+ | *3:30p - 9:15p | ||
+ | **investigate issue w/calb_stop traced to magnet rotation; | ||
+ | **calbed several robots; | ||
+ | **investigate st 4-5 glitch. | ||
+ | **tested firmware on subject; created tag; shipped | ||
+ | |||
+ | =sat aug 7= | ||
+ | *11:15a - 6:15p | ||
+ | **stop by Binney - get items; then better set up my office. | ||
+ | **work w/HH | ||
+ | **investigate ES->LS glitch | ||
+ | |||
+ | =sun aug 8= | ||
+ | *3pm - 10:15 | ||
+ | **work w/HH, fixed ES->LS glitch | ||
+ | **prepare H2-04, H2-21 run calb stop and torque verify. | ||
+ | |||
+ | =mon aug 9= | ||
+ | *11a - 7:15p -1 hr | ||
+ | *assist GG w/ tune issue on 12. motor temp wildly varies; needed to adjust k3bias. | ||
+ | |||
+ | =tue aug 10= | ||
+ | *9:30a - 10:30p - 1 hr | ||
+ | **tested H2-12, verified motor turn error in back driven. | ||
+ | **shipped H2-14 | ||
+ | **new relaxed mode w/pitch vel | ||
+ | |||
+ | =wed aug 11= | ||
+ | *9:45a - 12:45p | ||
+ | **sketch clustering algorithm | ||
+ | **class-afty the torque_verify for integration in ED back drive stepper | ||
+ | |||
+ | *1:10p-11:30p -1.5 hr | ||
+ | **firmware dev, screen to set parameters by weight. relaxed hardstop exit, make relaxed torques and pitch vel adjustable. | ||
+ | **explain torque verify to ED. | ||
+ | **firmware review w/GG | ||
+ | **HH takes 5prelease 2 home. | ||
+ | |||
+ | =thur aug 12= | ||
+ | *9:45a - 9:30p -30 | ||
+ | |||
+ | **discuss ES-LS current glitch and solution. code firmware to perform experiment requested by RC | ||
+ | **recode demux SM to retry if there is excessive torque at boot | ||
+ | **calbstop #4, #5 | ||
+ | **discuss SM bug w/GG | ||
+ | |||
+ | =fri aug 13= | ||
+ | *10:10a - 1:30p | ||
+ | **calbstop #1 | ||
+ | **smooth relaxed mode exit. | ||
+ | |||
+ | *3p-9pm | ||
+ | **improve relaxed mode firmware. | ||
+ | **assist GG w/turning subjects | ||
+ | **document key binds. | ||
+ | **review spring stiffness calb. | ||
+ | **begin analysis of pitch velocity vs speed | ||
+ | |||
+ | =sat aug 14 = | ||
+ | *2pm - 9pm | ||
+ | **code PV vs speed | ||
+ | |||
+ | =sun aug 15 = | ||
+ | * ???? - 9:15p - 45 | ||
+ | **improve Pff vs speed alg, testing w/HH | ||
+ | |||
+ | =mon aug 16= | ||
+ | * 1pm - 9:30p -30 | ||
+ | **improve Pff vs speed alg | ||
+ | **long discussion of RLS issues | ||
+ | **subject tuning | ||
+ | |||
+ | =tue aug 17= | ||
+ | * 8:50a - 1:25p -15 | ||
+ | ** improve wifilog file name processing | ||
+ | ** firmware development RLS sensor mitigation, notification and latching in SC | ||
+ | |||
+ | * 2:30p - 9:45p -15 | ||
+ | **assist w/TB tuning | ||
+ | **update robo_config | ||
+ | **discuss w/ZH ideas for simplified PV adaptation | ||
+ | |||
+ | =wed aug 18= | ||
+ | *4:15-9:30 | ||
+ | **assist GG w/WB tuning | ||
+ | **firmware development - SW Tstrike alg w/ZH | ||
+ | **HH firmware upgrade and tuning. Low pff experiments. | ||
+ | |||
+ | =thur aug 19= | ||
+ | *1pm - 10:30p | ||
+ | **tuning w/HH- discover issues with #5, needed to be rebuilt; and calb stopped. | ||
+ | **assist with debug of new robots and tuning | ||
+ | **investigate TS algorithm w/matlab; implement in C | ||
+ | **investigate LSP state and torque drop at other FS. Can it be detected? | ||
+ | **how about the loadcell sensor - can we use it? | ||
+ | **investigate new state 6 in/out with PV | ||
+ | |||
+ | =fri aug 20= | ||
+ | *9:20a - 9:10p -1.5 | ||
+ | **refactor firmware; test on HH | ||
+ | **start development of simulator | ||
+ | |||
+ | =sat aug 21= | ||
+ | * 12:30p - 9:10 -1.hr | ||
+ | **tune HH w/sz 25 for shipmet to tx. | ||
+ | **discuss simpler TS Asc SM | ||
+ | **work on simulator; seems to be working | ||
+ | |||
+ | =sun aug 22= | ||
+ | *meet w/JngW - discuss EMG | ||
+ | *EM 2motorK dev | ||
+ | *3 hrs | ||
+ | **develop matlab functions to parse text strings/ | ||
+ | **prepare HH for trip | ||
+ | **wire charger supply | ||
+ | |||
+ | =mon aug 23= | ||
+ | *3:50p - 10:00p | ||
+ | **study PV state 6 bug fix. | ||
+ | **assist GG w/tuning and debug | ||
+ | **hardware dev; SPI 2 serial for P32 ctrl of new K | ||
+ | |||
+ | =tue aug 24= | ||
+ | * 2pm - 12:10a | ||
+ | **discuss w/JS new lean firmware for communications. | ||
+ | **firmware development - rescale Pff curve based on entry torque, testing w/HH | ||
+ | |||
+ | =wed aug 25= | ||
+ | *2pm - 8pm -0.5hr | ||
+ | ** diag #8; very unique theta-beta curve. experiments on effect of PCB position on curve; none to shape except for true north position. | ||
+ | ** work w/GG tuning | ||
+ | ** assist GG w/boot issues at CF | ||
+ | ** firmware development; new infrastructure | ||
+ | |||
+ | =thur aug 26= | ||
+ | *11:30a-6pm -30 | ||
+ | **firmware development; new code to send messages | ||
+ | **discuss project status w/GG | ||
+ | **email re-ACW | ||
+ | **discuss TV w/ED | ||
+ | **discussion project status w/RC | ||
+ | |||
+ | |||
+ | =fri aug 27= | ||
+ | *3pm - 7:15p | ||
+ | -firmware development | ||
+ | -assist w/tuning and diagnostics | ||
+ | |||
+ | =sat aug 28= | ||
+ | *4.5 hrs - firmware development | ||
+ | |||
+ | =sun aug 29= | ||
+ | *2 hrs; firmware development | ||
+ | |||
+ | =mon aug 30= | ||
+ | *2:30 p - 11:30 p -1.5 | ||
+ | **discussion project status w/RC | ||
+ | **repulsion force calculator : http://www.kjmagnetics.com/calculator.repel.asp?calcType=ring | ||
+ | **arrange office | ||
+ | **work w/ZH on stairs; develop new means of detection | ||
+ | ==notes== | ||
+ | *http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication | ||
+ | *http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication.pre-revprop-change | ||
+ | *http://devlicio.us/blogs/christopher_bennage/archive/2009/03/11/mirroring-subversion-from-windows.aspx | ||
+ | *http://svk.bestpractical.com/view/UsingSVKAsARepositoryMirroringSystem | ||
+ | *http://svnbook.red-bean.com/en/1.4/svn.ref.svnsync.html | ||
+ | *http://strawberryperl.com/releases.html | ||
+ | *http://svnbook.red-bean.com/en/1.1/ch05s03.html#svn-ch-5-sect-3.5 | ||
+ | *http://ptspts.blogspot.com/2009/06/how-to-migrate-or-merge-cvs-or-svn.html | ||
+ | |||
+ | |||
+ | =tue aug 31= | ||
+ | *10:15am - 10:40p -1hr | ||
+ | **develop matlab code to each data file conversion | ||
+ | **review datasets for means of detecting TS | ||
+ | **write TS detect simulation code in matlab | ||
+ | **code in C for robot | ||
+ | **update simulator to run firmware | ||
+ | **test on subject HH |
Latest revision as of 16:09, 4 September 2010
Contents
- 1 sun aug 1
- 2 mon aug 2
- 3 tue aug 3
- 4 wed aug 4
- 5 thur aug 5
- 6 fri aug 6
- 7 sat aug 7
- 8 sun aug 8
- 9 mon aug 9
- 10 tue aug 10
- 11 wed aug 11
- 12 thur aug 12
- 13 fri aug 13
- 14 sat aug 14
- 15 sun aug 15
- 16 mon aug 16
- 17 tue aug 17
- 18 wed aug 18
- 19 thur aug 19
- 20 fri aug 20
- 21 sat aug 21
- 22 sun aug 22
- 23 mon aug 23
- 24 tue aug 24
- 25 wed aug 25
- 26 thur aug 26
- 27 fri aug 27
- 28 sat aug 28
- 29 sun aug 29
- 30 mon aug 30
- 31 tue aug 31
sun aug 1
- 10:30a - 12:15
- implement re-scalable tau trajectory.
- 12:30-8:45
- test LV
- test trajectory w/rescaled tau
- implement temp measurement following trahectorey
mon aug 2
- 10:15a - 9:30p -20
- discuss new network router w/ED
- experments w/calb stop - how to locate hardstop and its effect on torqie
- calb, test, ship 3 robots to TX.
tue aug 3
- 11:10a - 5p -15
- implement adjustable parameters for hardstop and beta angles
- discuss project status w/RC and HH
- implement new (untested) relaxed mode.
- discuss project status w/HH and relax mode
- 8:50p-10:30p
- review PCBs for fabrication
wed aug 4
- 9:00a - 11:30 -30
- discuss relaxed mode w/GG
- review IMU code in SM, begin use of IMU for swing detection
- review PCBs for fabrication
- 12:15p - 11:40p
- review code changes w/GG
- attempt to solve problem #7, #11
- tuning w/subject J
- review data for #7, #11.
todo
- need to verify what PSER1s we have and what if any ECOs
- have 12 PSER1eb (010310)
- have 3 PSER1e2 (021609)
thur aug 5
- 10a-12:40p
- discuss project status w/RC, HH
- implement new relaxed mode
- 1:10p-8:30p
- test new relaxed mode
- explain tuning new tuning parameters.
- capture torque verify data from #11 in TX,
- 9:45p-11:40p
- work w/GG on code updates in TX, create release 3a
fri aug 6
- 1pm - 1:40p
- 3:30p - 9:15p
- investigate issue w/calb_stop traced to magnet rotation;
- calbed several robots;
- investigate st 4-5 glitch.
- tested firmware on subject; created tag; shipped
sat aug 7
- 11:15a - 6:15p
- stop by Binney - get items; then better set up my office.
- work w/HH
- investigate ES->LS glitch
sun aug 8
- 3pm - 10:15
- work w/HH, fixed ES->LS glitch
- prepare H2-04, H2-21 run calb stop and torque verify.
mon aug 9
- 11a - 7:15p -1 hr
- assist GG w/ tune issue on 12. motor temp wildly varies; needed to adjust k3bias.
tue aug 10
- 9:30a - 10:30p - 1 hr
- tested H2-12, verified motor turn error in back driven.
- shipped H2-14
- new relaxed mode w/pitch vel
wed aug 11
- 9:45a - 12:45p
- sketch clustering algorithm
- class-afty the torque_verify for integration in ED back drive stepper
- 1:10p-11:30p -1.5 hr
- firmware dev, screen to set parameters by weight. relaxed hardstop exit, make relaxed torques and pitch vel adjustable.
- explain torque verify to ED.
- firmware review w/GG
- HH takes 5prelease 2 home.
thur aug 12
- 9:45a - 9:30p -30
- discuss ES-LS current glitch and solution. code firmware to perform experiment requested by RC
- recode demux SM to retry if there is excessive torque at boot
- calbstop #4, #5
- discuss SM bug w/GG
fri aug 13
- 10:10a - 1:30p
- calbstop #1
- smooth relaxed mode exit.
- 3p-9pm
- improve relaxed mode firmware.
- assist GG w/turning subjects
- document key binds.
- review spring stiffness calb.
- begin analysis of pitch velocity vs speed
sat aug 14
- 2pm - 9pm
- code PV vs speed
sun aug 15
- ???? - 9:15p - 45
- improve Pff vs speed alg, testing w/HH
mon aug 16
- 1pm - 9:30p -30
- improve Pff vs speed alg
- long discussion of RLS issues
- subject tuning
tue aug 17
- 8:50a - 1:25p -15
- improve wifilog file name processing
- firmware development RLS sensor mitigation, notification and latching in SC
- 2:30p - 9:45p -15
- assist w/TB tuning
- update robo_config
- discuss w/ZH ideas for simplified PV adaptation
wed aug 18
- 4:15-9:30
- assist GG w/WB tuning
- firmware development - SW Tstrike alg w/ZH
- HH firmware upgrade and tuning. Low pff experiments.
thur aug 19
- 1pm - 10:30p
- tuning w/HH- discover issues with #5, needed to be rebuilt; and calb stopped.
- assist with debug of new robots and tuning
- investigate TS algorithm w/matlab; implement in C
- investigate LSP state and torque drop at other FS. Can it be detected?
- how about the loadcell sensor - can we use it?
- investigate new state 6 in/out with PV
fri aug 20
- 9:20a - 9:10p -1.5
- refactor firmware; test on HH
- start development of simulator
sat aug 21
- 12:30p - 9:10 -1.hr
- tune HH w/sz 25 for shipmet to tx.
- discuss simpler TS Asc SM
- work on simulator; seems to be working
sun aug 22
- meet w/JngW - discuss EMG
- EM 2motorK dev
- 3 hrs
- develop matlab functions to parse text strings/
- prepare HH for trip
- wire charger supply
mon aug 23
- 3:50p - 10:00p
- study PV state 6 bug fix.
- assist GG w/tuning and debug
- hardware dev; SPI 2 serial for P32 ctrl of new K
tue aug 24
- 2pm - 12:10a
- discuss w/JS new lean firmware for communications.
- firmware development - rescale Pff curve based on entry torque, testing w/HH
wed aug 25
- 2pm - 8pm -0.5hr
- diag #8; very unique theta-beta curve. experiments on effect of PCB position on curve; none to shape except for true north position.
- work w/GG tuning
- assist GG w/boot issues at CF
- firmware development; new infrastructure
thur aug 26
- 11:30a-6pm -30
- firmware development; new code to send messages
- discuss project status w/GG
- email re-ACW
- discuss TV w/ED
- discussion project status w/RC
fri aug 27
- 3pm - 7:15p
-firmware development -assist w/tuning and diagnostics
sat aug 28
- 4.5 hrs - firmware development
sun aug 29
- 2 hrs; firmware development
mon aug 30
- 2:30 p - 11:30 p -1.5
- discussion project status w/RC
- repulsion force calculator : http://www.kjmagnetics.com/calculator.repel.asp?calcType=ring
- arrange office
- work w/ZH on stairs; develop new means of detection
notes
- http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication
- http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication.pre-revprop-change
- http://devlicio.us/blogs/christopher_bennage/archive/2009/03/11/mirroring-subversion-from-windows.aspx
- http://svk.bestpractical.com/view/UsingSVKAsARepositoryMirroringSystem
- http://svnbook.red-bean.com/en/1.4/svn.ref.svnsync.html
- http://strawberryperl.com/releases.html
- http://svnbook.red-bean.com/en/1.1/ch05s03.html#svn-ch-5-sect-3.5
- http://ptspts.blogspot.com/2009/06/how-to-migrate-or-merge-cvs-or-svn.html
tue aug 31
- 10:15am - 10:40p -1hr
- develop matlab code to each data file conversion
- review datasets for means of detecting TS
- write TS detect simulation code in matlab
- code in C for robot
- update simulator to run firmware
- test on subject HH