Hours 1008

From DIDEAS Wiki

Jump to: navigation, search

ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

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

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

Retrieved from "http://mediawiki.dideas.com/index.php?title=Hours_1008&oldid=6356"