Hours 1001
From DIDEAS Wiki
Contents
- 1 Jan 2010
- 2 Mon Jan 4
- 3 tue jan 5
- 4 wed jan 6
- 5 thur jan 7
- 6 fri jan 8
- 7 sat jan 9
- 8 sun jan 10
- 9 mon jan11
- 10 tue jan 12
- 11 wed jan 13
- 12 thur jan 14
- 13 fri jan 15
- 14 sat jan 16
- 15 sun jan 17
- 16 mon jan 18
- 17 tue jan 19
- 18 wed jan 20
- 19 thur jan 21
- 20 fri jan 22
- 21 sat jan 23
- 22 sun jan 24
- 23 mon jan 25
- 24 tue jan 26
- 25 wed jan 27
- 26 thur jan 28
- 27 fri jan 29
- 28 sat jan 30
- 29 sun jan 31
Jan 2010
todo
Mon Jan 4
- 9:30a - 3:10p -30
- prepare PSER1eb and PSER2hb
- layout inverter oscillator and complete two eddy current sensors PCBs
- panel and submit PCBs for fabrication
- 4pm - 7:30p -45
- discuss w/DG LTF status
- resubmit PCBs after project rejected.
- biquad filter research and implementation
- discuss w/RC LTF status (41 hz) and V2 status
todo
- LTF data analysis
- get V2 going
tue jan 5
- 10:30a-3pm -1:40
- biquad filter tested on linux, added support commands under tkcmdset
- converted LTF data from Dec30
- 3:30p - 9:40pm
- work with GG and CA on IMU programing, hardware diagnosis
- review LTF data with DG, experiment with LTF
wed jan 6
- 8am - 11:40a +60min
- review robo_config for ability to load/save tables
- develop test procedure for ED / GG to load / save EEPROM tables on Spld.
- discuss w/DG how to proceed w/LTF experiments and XP software requirements.
- complete integration of biquad.c into MC firmware, add prototypes to result in cleaner MC compile
- located tool to design biquad filter coeffs, designed 200 & 300 hz Bstop filters.
- 3pm - 11:25pm -30 +30
- run LTF w/DG
- tested biquad filter
- update LTF SC/MC
- ran sine sweeps and white noise.
- converted data emailed to DG
thur jan 7
- 15+20+20+1hr
- discuses w/RC robot problem and patent
- phone w/DG re LTF results
- phone w/GG re LTF an robot results
- read patent proposal
fri jan 8
- 1 hr
- working with DG on LTF
sat jan 9
sun jan 10
- 2pm - 8:45p -30
- meet w/RC @CKF - discuss robot testing, holster, block diag, belt detector
- review SERDES
- discuss SERDES ideas w/MM - decide on FPGA w/1 TX, RX, CLK
- review of patent
- consider alternatives to connecting to SC/MC. Possibly HS USB?
mon jan11
- 4-9pm
- discuss robot arm control w/ZH and GG w/python
- discuss w/GG java UDP for plot_lifefix
- work w/DG on LTF. Run white noise tess, followed by a large series of sine sweeps.
tue jan 12
- 1.5 hrs - reading patent
- 3-8:30p
- sign patent papers
- review matlab UDP java tool
- wire up new LTF power supply.
- work with DG on LTF freq response, and biquad filter.
wed jan 13
- 1 hr
- investigate methods of multiplexing ISP for debug deep in the robot.
- 3 methods:
- develop our own programmer that MPLAB can use (or copy one)
- implment the ISP statemachine in the FPGA so it can determiante directionalty
- use an analog swtich to multiple the PGD signal - so we don't have to understand the protocol, use SER-DES for the remaining signals.
- 4pm-5:30p
- cut pcb pannel
- assemble eddy current sensor PCB and test.
- ???
- 6:15pm - 10:15pm
- work with DG on LTF.
- verify freq rsp of pole zeros with fvtool
- calculate new pole zeros
- test biquad on LTF
- start run_lifefix_v2, issues with KCA.
- work with DG on LTF.
thur jan 14
- 2:35 - 10:20p
- digikey order for RJ45 magnetics and other items
- assist ZH with real-time work loop plotting
- bring up LTF, try to understand commutation problem
- LTF PID tuning
- LTF work loop studies.
fri jan 15
- 2.5 hrs
- complete excell entry for Dec and to present time for Jan
- email summary of the cause/solution to the matlab plotting problem
- email summary of LTF ground loop problems - and a suggested change.
- documentation for Pser2hb, pser1eb
- assist w/running of LTF - find the motor isn't moving, likly over heated.
- 3:30p-11:20p
- assist CA w/ankle rebuild and programming of SWIFI, Wiport, SC, and MC
- restart LTF
- investigate the error in the resistance measurement, find that qId depends in non-linear way on qVd
sat jan 16
- 10a-12p
- review LTF, code real-time temperature plotting
- 1:10p-9:40p -15
- review GG code merge, program on V2.
- improvements to matlab plotter, reads a user config file for plot titles / scale, experment with alternative UDP libraries
- testing MC on rev300 hardware.
- re-write and test acoustic mods to statecontroller
sun jan 17
- 3:15p - 11pm
- investigate the cause of the LTF stopping, appears to be Pser2h non-isolation, fixed.
- studied the effect of motor rotation on apparent resistance (added tested to benchtest.py)
- looked for relationship between ADC sampling position and measured current (non found)
- compared DC type resistance measurement with AC measurement method. Found good agreement.
- fixed bug in RLFv2 where text output was incorrectly scaled.
- (start) modify RLFv2 to output data computer readable format.
mon jan 18
- monitor LTF overnight
- 2 hrs
- discuss status w/DG on LTF status, count number of cycles
- improve RLFv2 to encode exit error for retry*
- 4pm-11:30p
- assist GG w/statemachine bug (400mS in PP)
- continue testing development of RTLFv2
- successful test LTF w/48V supply
- w ED/investigate PSER2h baudrate problem, make kernel modules changes. After, there are still an issue setting the baudrate - however multiple settings seem to take effect
- investigate methods of testing motor automatically with benchtest
- investigate possibility of using the JR3 for motor force control
- start process of converting SWIFI data from LTF weekend run
tue jan 19
- 2 hrs
- create LTF parts list [1]
- convert SWIFI LTF weekend data.
notes
- 24V supply for battery charger
- 2:30p - 8pm
- test auto retry code
- w/ED discuss future calibration and LTF logging
- get wifi_fast.py running on LTF and sending to matlab
- 6pm start LTF and monitor progress w/DG
- LTF stops occasionally due to excessive belt range. has no obvious cause.
- improvements to retry code to auto-restart
- 8:50p-11:40
- start to code the mc_resistance as a stand alone class.
- improvements to motor temp algorithm and cycle type measurement
- improvements to retry code to auto-restart
- the auto-retry will break the total-run time duration
wed jan 20
- 60 mins :
- study method of controlling multiple LTF
- email DG on same
- discuss K w/JW
- 3:15-7:15p
- discuss LTF vibrations and future w/DG
- meet with HH and JW re new project,
- discuss SM anomalys w/HH - develop new ES transition
- discuss SM, PP, etc w/ZH
- 10:25p-2:20a
- coded better transition for ES2LS
- developed method of tracking state transitions, started coding in SM
- developed virtual spring module
- wrote program to parse LTF log for import to ML
- tested python's ability to read JR3 at 1khz, and send a byte over serial port.
thur jan 21
- 1.5 hrs
- modify virtual spring code to make use of AA and AAdot, clean up helpper functions
- 4pm - 1:40a
- arrive to find LTF has stopped and has reached a hard stop, decided that cause was related to miss commutation or PI sign problem
- needed to figure out how to decode a very large SWIFI file.
- added to RLFv2 and -N option to not do commutation
- added to run_retry the addition of the -N suffix after the first retry
- review LTF status w/DG
- discuss TS and exp parameter decay w/RC
- create an automatic new file name class for wifi_fast, every 10 mins a new log file is used.
fri jan 22
- 1 hr
- admin
- email documenting LTF logs, locations, etc
- email questioning hall sensor and calibration procedure
- 5:15pm - 7:40pm
- w/GG on robo config, explain MILE related MC changes since Oct 13 split
- modifications to do_command.py to support system wide install
- discuss calibration requirements w/GG and ED - locate matlab script to create python calibration table.
- discuss repair of S2 and options, decide best to order more Rev200 boards, create build ECOs same
- tested new 24V supply
sat jan 23
- 4:30p - 9pm -1.5
- review LTF data from jan15-17 session
- modify wifi_fast smart log file class to optionally use threading
- install SWIFI on S3.
- began experimentation with latest SC/MC on S3/V2
todo
- determine why pser2h and swifi FUP communications collide - even with USB off.
sun jan 24
- 1 hr
- assembly docs for LTF
- admins
- 2:15p-8:45p
- test Rev300 PCB w/Rev200 SC/MC on bench
- wire 48V LTF power supply
- review WIP4c and PSER2h schematics - collision is the result of both devices using 1k protection resistors.
- test latest firmware, correct bugs.
- correct new log method problems w/wifi_fast. adds logs to zip file periodically - works well.
todo
- test rev 300 PCB on LTF
- get robot working
- test VS code
- develop current offset calibration
mon jan 25
- 1.25 hr - email, discussion re LTF power supply, and admin, email to CA re need experiment with PSER mods.
- 4:05p - 12:45a (-1 hr)
- assist CA w/EC30 resistance measurement, motor actually works
- sketch schematic for LTF power supplies
- meet with Charley doing simulink MC and BC models
- testing S3 - debugging code
- test V2, seems to lack working encoder
todo
- modify / test Pser2h with smaller Tx protection resistors.
tue jan 26
- 2 hrs
- email re MPD build of new R200 boards, need to resolve issue with PSER1b
- submit NOV 09 invoice
- work on BOM for PSER1eb, PSER2hb.
- 2:30-7:15p
- discuss w/ED force ripples while calibrating some robots.
- decided to make a true open leads mode in the MC firmware (including 751x) - added MODE10 which does exactly that. This is in addition to the LTFs open leads in MODE0.
wed jan 27
- 10:50-12:15
- email re modifications to FET boards for safety fets., update WIKI, looking for IW Wiki, admin
- 1p-7:15p
- restart LTF
- meet with JW, HH, RC, DG, CW re knee design
- assist CA with testing of Rev200 boards.
- disuss w/GG getting MPD moving on Rev200 boards - send an email
todo
- remove safety fet resistor from REV300
thur jan 28
- 11:30a - 12:35p
- 4:15pm -12a
- fix read of encoder bug in MC that could result in 1 rev error
- modify RLFv2 to require 2 successive belt range errors before exit
- assisted ED and ZH w/cause of series spring calibration anomaly.
- discuss creation of new PVT and thrust vectors w/DG and ZH.
- discuss w/GG addition of hall table to robo_config.
- work on V2 and firmware. Discover SG wiring problem.
fri jan 29
- 30 mins home
- 1:00p - 1:45p
- get an update on the pyramid
- verify test procedure to use do command to read pyramid and to plot @500hz
- 3:30p - 5pm
- Pser BOM
- V2 firmware debug
- 6:30p-9pm
- meet w/RC and ZH to discuss motor anomaly events, make punch list
- test V2 pyramid, TQ now working
- apply MC overload, encoder to S3 firmware
- investigate windup issue, LTF is not using modified MC filter.
sat jan 30
- 1 hr
- review LTF status, create plots analysis
- 2:15pm - 6pm
- experiments with motor PI filter and over-windup. Was able to verify the current spike associated with a sudden stop. Make changes to SC/MC firmware, and LTF to always turn on the KC term.
- should use motor speed to supplement
- replace 24V LTF supply and test
sun jan 31
- 10:30 hr - 12:30
- review LTF status, create plots analysis
- figure out how to unzip a unreadable 6gb zip file (take the head, and then repair)
- compare workloops from the start of run and present time.
- 4:15p-10:15p
- review LTF, estimate rate of backlash growth.
- assemble LTF power supply kit.
- apply and test SC and MC patches to the Spld3 firmware.
- tested the new V2 pyramid. Has signal on both TQ and LD.