Todo

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Revision as of 16:05, 29 May 2009 by Ceb (talk | contribs) (→‎before next track test)
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Upd_pcbceb_log

leave 5pm - arrive 2.30pm

before next track test

  • create a command that has a single parameter to specify the type of code to run
    • wake into mode 0, sensors are operational (for test jig)
    • wake into mode 0, but also do commutation (for test jig where ankle will be driven.)
    • wake into walking mode, with impulse current = 0
    • wake into walking mode, using EEPROM defaults, but impulse current = 0
    • wake into walking mode, using EEPROM defaults, with impulse current
    • DEMO mode : using EEPROM defaults, relaxed enabled, full impulse current
    • ability to specify which EEPROM table is the default.


  • use CRC with WIFI_FAST
  • load / save walking parameters
  • use calibration table
  • use motor current offset.
  • use force fields
  • glue down hall sensor.

digikey

  • 1mm and 1.25mm housing,
  • different scope probe,
  • long USB extension cables
  • BK precision power supply
  • send back scope probe and green connectors.


CEB todo

  • continue IMU code integration

testjig

  • series spring



statemachine

  • detech motor faults - just to holding state.
  • overload warning - detect and servo to safe position.
  • integrate in the EEPROM code.
  • VERIFY : during swing issue a test current into the motor to measure it's resistance (store somewhere)
  • statemachine - look at MC offset, if there is much disagreement with defaults then signal error
  • statemachine - log SG offsets
  • 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.
  • capture initial SG offset into EEPROM
  • capture SG offset during swing into EEPROM


pcb

old

  • debug power board failures.
  • design file format for USB flash drive
  • write code for USB flash drive
  • this seems to work - ability to switch between Wifi and BT - in progress
  • 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

4 layer

  • re-spin motor and state controllers? Knee PCB?
  • send out PSER1D and other boards in 4layer nice.
  • WIFI w/2Meg RAM
  • electronic fuse, ballancer, ON/OFF switch - battery pack less the charger.
  • FUP flash drive datalogger.
  • 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

  • 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. install new pyramid into test-jig. Will want to run a calibration Monday afternoon. Also, while the ankle is open, install an encoder extension cable into the controller PCB inside the ankle. We need to be able to switch the EC30 motor encoder connection from the US Digital device to the controller inside the ankle without taking the ankle apart.
  2. 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.
  3. replace EC30 timing belt on drive #4 with the new white GT2 belt. Please note on the wiki. (http://mediawiki.dideas.com/index.php?title=Aiw_hardware#motor_.2F_assembly)
  4. 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

  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.
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