Difference between revisions of "Todo"
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[[ceb_log ]] | [[ceb_log ]] | ||
*[[PF Top Nav]]; [[Upd_pcb | PCB]]; [[Aiw_hardware | Hardware]]; [[AIW_assembly | Assembly]] [[PFMENU DOCS | PFCmdMenu]] [[iochan]] | *[[PF Top Nav]]; [[Upd_pcb | PCB]]; [[Aiw_hardware | Hardware]]; [[AIW_assembly | Assembly]] [[PFMENU DOCS | PFCmdMenu]] [[iochan]] | ||
− | *PCA : [[Upd_2x0_218_controller | SC/MC 218]] [[Upd_2x0_217_power_board| FET 217]] | + | *PCA : [[Upd_2x0_218_controller | SC/MC 218]] [[Upd_2x0_217_power_board| FET 217]] [[Rev200_mods]] |
*PFCMD : [[PFMENU_DOCS | SC]]; [[PFMENU_DOCS_MC | MC]]; [[PFCMD_PY]]; [[Pf_calb_table_py]]; [[Virtual spring test]]; [[PF1_Code_History]]; [[PF EEPROM]] | *PFCMD : [[PFMENU_DOCS | SC]]; [[PFMENU_DOCS_MC | MC]]; [[PFCMD_PY]]; [[Pf_calb_table_py]]; [[Virtual spring test]]; [[PF1_Code_History]]; [[PF EEPROM]] | ||
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Revision as of 18:21, 3 July 2009
- PF Top Nav; PCB; Hardware; Assembly PFCmdMenu iochan
- PCA : SC/MC 218 FET 217 Rev200_mods
- PFCMD : SC; MC; PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF1_Code_History; PF EEPROM
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y
Contents
7-3-09
- 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 ankle 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