Revision as of 05:20, 11 January 2009

CEB todo

statemachine - look at MC offset, if there is much disagreement with defaults then single error
statemachine - add faux platarflexion code
statemachine - log SG offsets

design file format for USB flash drive
write code for USB flash drive
during swing issue a test current into the motor to measure it's resistance (store somewhere)
capture initial SG offset into EEPROM
capture SG offset during swing into EEPROM
this seems to work - ability to switch between Wifi and BT - in progress
get IMU working
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.
make high power bench code ???
verify fuses - run high power test on bench with a fuse. (5 ohms should be good)
Why does statemachine-test not return ADC values?

isense bipolar
WIFI w/2Meg RAM
FUP flash drive datalogger.
electronic fuse
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

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)

replace belt on drive #1, use one of the new white belts
built up 2nd ankle
build one VNCL1 - I need one to start writing code ASAP (and to see if the thing even works) so don't build 3 yet.

make up inline fuse and circuit breaker cables. Use a red and a black wire, and power poles on both ends.

install hall ankle magnet into all ankles that we use.
replace belts (with white GT2???) on all drive actuators when the opportunity arises
replace plastic bushings in each ankle plate whenever possible
make two 4foot power supply cables (w/zip cord), power poles and banana plugs
make a 8 foot power pole extension cable (w/zip cord)

Order LTC switching regulators - if not done already
Build Vclamp8 with NEW PFET and 35w resistor
Ship 1 Vclamp8 to UPD
When U39 is removed - save and send to Linear Tech for failure analysis
Verify operation of RE40 encoder new motor test stand. Appears to not be working
Rewire 8-cell A123 battery pack to 7cell.
programming cable in PCB repair box is bad.

@@ Line 68: / Line 68: @@
 =Robert Todo=
 # replace belt on drive #1, use one of the new white belts
+# built up 2nd ankle
+# build one VNCL1 - I need one to start writing code ASAP (and to see if the thing even works) so don't build 3 yet.
+# make up inline fuse and circuit breaker cables.  Use a red and a black wire, and power poles on both ends.
 * install hall ankle magnet into all ankles that we use.
-* when building bench - please raise shelf 1" over the height of my present bench.  probably leave off the light.
+* replace belts (with white GT2???) on all drive actuators when the opportunity arises
-* replace U39 on SC/MC 110-008 -> [[Upd_218_controller#110-008]]
+* replace plastic bushings in each ankle plate whenever possible
+* make two 4foot power supply cables (w/zip cord), power poles and banana plugs
+* make a 8 foot power pole extension cable (w/zip cord)
+* FUP power cables
-* FUP power cables
 == old==