Difference between revisions of "Todo"
From DIDEAS Wiki
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= CEB todo= | = CEB todo= | ||
+ | * discuss with rick, K3 stiffness problem, problem with Robert | ||
* statemachine - look at MC offset, if there is much disagreement with defaults then single error | * statemachine - look at MC offset, if there is much disagreement with defaults then single error | ||
* statemachine - add faux platarflexion code | * statemachine - add faux platarflexion code |
Revision as of 21:37, 11 January 2009
CEB todo
- discuss with rick, K3 stiffness problem, problem with Robert
- statemachine - look at MC offset, if there is much disagreement with defaults then single error
- statemachine - add faux platarflexion code
- statemachine - log SG offsets
- prepare documentation for PCB assembly
- debug power board failures.
- disassembly proto1 and determine cause of failure. is SC still good?
- 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?
PCB IW812a
- encoder breakout
- current sensor - isense1 (unipolar)
- faux SG board
- sg breakouts x 4
- pser1d - udp compat pser
- fup1 - gender changer
PCB todo
- 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
old
- verify thermal models Thermal data
- build ankle
- test strain gauges
- get ankle state machine running
- 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)
- current measurement PCB (with Y voltage measure)
- encoder breakout boards
- SG breakout boards
- new WIFI wireless
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.
- 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)
- FUP power cables
old
- 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.