Hours 1007

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

wed jun 30

• 7:15a-
• worked all day.
  • work on invoice until ~1pm
  • testing of instant on, investigate FLASH memory.
  • dinner w/RC @leg
  • at MIT 5pm

thur jul 1

• worked all morning
  • investigate use of flash memory for calb tables
  • forums re getting assistance
• 7p -
  • meet w/RC to discuss project status

fri jun 2

• 9a - 1p
  • invesitate read/write flash, issues with linker, issues with realice.
  • power on SM development
  • investiage code merge

• 4:30p - 9:30p
  • at IW
  • code merge and testing of same
  • create special command hooks for JS firmware
  • investigate / work around issue with power off SM forcing demux SM state.

sat jul 3

• 1hr -
  • project documentation, sync w/GG JS on merge status.
• 2 hrs
  • complete assembly and test AKENC3m
• 2.5
  • email DS re calb stop
  • power on SG simulation in matlab
  • experiment w/write flash

tue jul 6

• 10:25a - 10p (
  • discuss project priorities w/RC
  • integrating FF instant on, 2930, 2936, 2937

wed jul 7

• 5:15a-6:35
  • improve calb stop to make use of true north.
  • trajectory simulation

• 12:30p - 7:55p
  • assist DG w/LTF - commutation issue
  • discuss battery options w/CA and Mk
  • assist GG w/osc caused by FF and ISLIP interaction, need ability to read MILE and to set commref.
    • MILE doesn't seem to read w/cmd 1106
    • will need a commutation MC state - for LTF etc
  • start implementation of traj onto MC
  • re-implemented cmd 1480 - for readback of MILE.
• 1 hr - at home

thur jul 8

• 9:50a-1:20p
  • work to make instant on MC backward compatible w/LTF
    • CMD 1480 to read SSI sensors, modify bench test and support to make use of
  • calb_stop has analog sensor offset output
    • would like to integrate into some of the other tests
  • TODO - calb_stop for HALT
• 2:15p- 9pm
  • discuss w/RC boost prj
  • merge SS into trunk
  • LTF2 has SC 2745, MC 2718; will update w/latest.
  • interview AB

fri jul 9

• 9a - 1p
• 3p-9:30
  • work at IW
  • calb stop improvements, w/GG to integrate into procedure.
  • issue with H2-04

sat jul 10

• 1 hr
  • trajectory simulation, moving into motor space.
• 12:30p - 8:15p
  • work at IW
  • discuss calb fixture w/RC, DG
  • discuss global opt toolbox w/ZH, RC and ED - need to DL from mathworks. - need passwords.
  • start diag development for benchtest. rework iochan_capture.py, save files for S3, H2-04
    • C:\xxx\0svn\data-collection\iochan_capture
    • C:\xxx\0svn\data-collection\calb_stop
  • study trajectory issues with initial conditions
  • mc_diag development.

sun jul 11

• 4 hrs
  • install matlab
  • sc - no calb - development.

mon jul 12

• 11:30a-10:15p -2 -1
  • study Excell w/ZH firmware. find uses xlsread which requires COM server. Openoffice doesnt work.
  • assist ED w/calb fixture dev
  • trajectory ctrl development

tue jul 13

• 6:50a - 7:50a
  • debug trajectory ctrl
• 10:50a -
  • debug trajectory ctrl, connect to mc_statemachine state 42.

thr jul 15

• 3pm - 10:30p -1hr
  • discuss w/RC and GG re status
  • discuss w/RC batteries
  • calb stop improvement
  • integrate trajectory into SW
  • add longer waiting MC boot state when no calb table; SC motor commands for traject

fri jul 16

• 10:30a -

sat jul 17

• • calb_stop improvements, change COMREF to mode4, correctly normalize theta_beta poly calc

sun jul 18

• 11:50a -
  • improve read_calb_table
  • work on the script

mon jul 19

• 2:00p - 5:15 -15
  • investigate effect of velocity measurement on oscillation freq.
• 8:45-10:30p
  • experiments / verification of setting incremental encoder via command 1490\

tue jul 20

• 4:45 hrs
  • phone w/ED re dataport sel
  • email re dataport w/SWIFI
  • phone w/RC discuss SWIFI communication, pyramid
  • analysis of AAS resolution, email on same
  • discuss w/RC pyramid and torque control

wed jul 21

• 9:45a-11:25a
  • admin
  • MC torque calculation, modify read_calb_stop to create poly for motor_pos -> beta

• 12:30p-10:30p
  • at IW
  • assist ED w/read back of pyramid data on calb
  • meet w/GG. meet w/HH, GG discuss torque sensor
  • implement MC torque computation
  • find that latest SM doesn't change the MC state. not sure of the cause.

thur jul 22

• 11:30a - 9:20p
  • meet w/HH, GG, RC discuss direction
  • discuss bootup procedure w/ED
  • merge some of ION firmware into H2TX branch

fri jul 23

• 9:10a - 1:45p
  • discussion w/RC and HH re plan
• 3p - 8:15pm
  • add ION features to TX branch, and test w/HH
  • assist ED requirements to boot ankle for calb.

sat jul 24

• 10:15a - 12:30p
  • debug ION BS position estimation

• 1:15p - 9:15p
  • IW - implement startup alg to zero BS pos
  • work w/GG to understand tools
• 10:45p - 12:10a
  • implement iterative method to find bs zero

sun jul 25

• 11:15a - 10p
  • at iw. w/hh and rc
  • add trajectory ctrl
  • test hh/several

mon jul 26

• 1.25 hr
  • add tuning parameters for trajectory ctrl to SC
• 12 - 10p
  • a iw
  • test on several subjects
  • debug SM
• 10:45 - 12:30a
  • experiments w/output ref traj ctrl.

tue jul 27

• 10a-1p
  • experiment w/output ref traj ctrl
• 1:30p - 2:15a
  • finalize firmware, fixed MC issue w/one sided imped
  • test w/subject J
  • calb stop and prepare #13-#21

wed jul 28

• 8:30a -6pm
  • assist ML w/prep #12
• 9pm-10:30p
  • review data for BS zero experiments

thur jul 29

• 9:45a- 5:30p
  • update documentation, email DG and MLI re wiki
  • email JS re calb tables.

fri jul 30

• 1hr
• 4pm - 9:45p
  • recalibrate robots for testing w/HH and subject
  • firmware development, implement low voltage cutoff

sat jul 31

• 9:00a -9:55a
  • firmware development, implement low voltage cutoff
  • 12:05p - 11:50p
  • work w/GG on state machine bug and re factor, calb_stop and ION details,; discuss roll out of release 3
  • complete and test low voltage cutoff

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.