Difference between revisions of "Hours 1007"
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{{ceb_private}} | {{ceb_private}} | ||
− | =tue jul 6= | + | ==wed jun 30== |
− | *10:25a - | + | *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 | **discuss project priorities w/RC | ||
− | **integrating FF instant on, | + | **integrating FF instant on, 2930, 2936, 2937 |
− | =wed jul 7= | + | ==wed jul 7== |
*5:15a-6:35 | *5:15a-6:35 | ||
**improve calb stop to make use of true north. | **improve calb stop to make use of true north. | ||
Line 18: | Line 58: | ||
***will need a commutation MC state - for LTF etc | ***will need a commutation MC state - for LTF etc | ||
**start implementation of traj onto MC | **start implementation of traj onto MC | ||
− | **re- | + | **re-implemented cmd 1480 - for readback of MILE. |
+ | *1 hr - at home | ||
+ | |||
− | =thur jul 8= | + | ==thur jul 8== |
− | *9: | + | *9:50a-1:20p |
**work to make instant on MC backward compatible w/LTF | **work to make instant on MC backward compatible w/LTF | ||
− | ***CMD 1480 to read SSI sensors, | + | ***CMD 1480 to read SSI sensors, modify bench test and support to make use of |
**calb_stop has analog sensor offset output | **calb_stop has analog sensor offset output | ||
***would like to integrate into some of the other tests | ***would like to integrate into some of the other tests | ||
**TODO - calb_stop for HALT | **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. | ||
+ | |||
+ | ==wed jul 14== | ||
+ | |||
+ | ==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. |
Latest revision as of 03:21, 3 August 2010
Contents
- 1 wed jun 30
- 2 thur jul 1
- 3 fri jun 2
- 4 sat jul 3
- 5 tue jul 6
- 6 wed jul 7
- 7 thur jul 8
- 8 fri jul 9
- 9 sat jul 10
- 10 sun jul 11
- 11 mon jul 12
- 12 tue jul 13
- 13 wed jul 14
- 14 thr jul 15
- 15 fri jul 16
- 16 sat jul 17
- 17 sun jul 18
- 18 mon jul 19
- 19 tue jul 20
- 20 wed jul 21
- 21 thur jul 22
- 22 fri jul 23
- 23 sat jul 24
- 24 sun jul 25
- 25 mon jul 26
- 26 tue jul 27
- 27 wed jul 28
- 28 thur jul 29
- 29 fri jul 30
- 30 sat jul 31
- 31 sun aug 1
- 32 mon aug 2
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
- work to make instant on MC backward compatible w/LTF
- 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.
wed jul 14
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.