Todo

CEB todo

• place digikey order.
• order delrin from mcmaster, M2.5 tap
• order additional gears.
• 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

• is using some now : statemachine is not using feature bits.
• think this is done : want statemachine to use getdata for sensors instead of extended torque
• this seems to work - ability to switch between Wifi and BT - in progress
• hall angle - works on MC, not on SC due to modified ADC scan method by charlie; added support to get_data4
• incorporate bridge fault. test - needs to be tested

• digikey order for 812a
• pcb submission for VNC

• MC overflow fix.
• get IMU working
• verify does the ankle work.

• 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

1. We need a cable to connect the EC30 encoder to 2nd cable that connects to the US Digital encoder logger that is part of the test jig. The cable and documentation are on top of my oscilloscope. However, please wait for me to review it before you power it - as possibly we could damage the enoder.
2. fix wires to pyramid #2, and add short wires to pyramids #9 and #6. There are on your microscope stand.

• part numbers for inline fuse holders - for the round cylinder fuses that we have.
• 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 U39 on SC/MC 110-008 -> Upd_218_controller#110-008

• FUP power cables

old

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