Todo

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high speed at swing want no power overall - for weeks - no recharge need torque speed curves



  • phill - origitonal bio inveter, also does rfid, and has custom electronics compjnay, and is faculatiy at iit. to be viable, needed manufacturing track record, cygentics IIT the Foundatatioon and RIC possible applications - eg upper limb - clincal trial.
  • Big goal, IMES as inplantable EMG interface.
  • - Dan Merril - at foundation - oversees clincial teams does enginneer stuff and quality.



todo_ca

cb_soup

todo

  • invoice MEKA, IW
  • DC sine sweep
  • random noise.
  • investigate torque ripple
  • add docs for 1120 commands, add docs for do command, add docs for robo_config.
  • make SWIFI w/6 serial ports and connector for EMG
  • make Ken specific MC board.
  • investigate apparent current overflows with large backdrive freq.
  • recode PI loop to saturate Isum
  • make separate MC project for life fix. Will have condition compilation and large code model
  • have MC send back more info about the LF - eg position in thrust table.
  • have MC send back LF binary state variables.
  • integrate wifi_fast into run_life fix.
  • write python to review data from the SWIFI
  • locate SWIFI connectors.

lab

  • locate connectors for ADIS or purchase
  • complete assembly of ADIS2V2
  • locate lab lantronix radios
  • locate lab 1.25mm cable, and 1.0mm cable
  • consider having 1.00 cable made by l-tronixs
  • PCB run - merge SWIFI and IMU and BLMD SPI breakout? (eg SPI swifi)

Aug 09

  • car insurance - discuss metlife w/DWB
  • MITFCU - call about fees for savings/ money market.
  • Report expenses for Chicago trip
  • Locate receipts for MIT video card purchases.
  • contact WI re sales tax collection error

IW

  • test RTOS
  • PCB - isolated RS232, SWIFIs

7-10-09

  • for monday - damping FF at zero degrees.
  • send out loadwasher.


7-4-09

  • force fields are loaded automatically, need to ENABLE
  • (yesterday)(fixed issues of feature bits and runleve.
  • SC - check for hall zero - but to correct, need the spline table.

7-3-09

  • force fields are loaded automatically, need to ENABLE
  • IMU automatically on (why is EEPROM ignored?) (believe causes by feature bits in walking_param)
  • check for hall zero location
  • chech for normal SG offset.
  • PVF engages at zero vel crossing, allow for vel-offset.

7-2-09

  • IMU signal processing
    • accelerometer, direct output ; ratiometric, powered by 3.0V ref
    • z axis gyro : powered by 5V, uses 3.0V ref on Vratio, 267k at Sumj; dynamic rage = 500 deg/sec
    • x&y gyro : 3v power supply
    • gyro and accl signals all have 1k, 0.1uF RC filter


6-30-09 todo

  • zero encoder based on calibrated hall sensor.
  • write python program to bump overload parameters, and monitor max
  • PC programs to load/save defaults
  • program to convert matlab calb files into python calb table


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 AK 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.
  • ability to read out the SG offset log - seems to have an issue...
  • DONE : use CRC with WIFI_FAST
  • MORE WORK : load / save walking parameters
  • IS USED FOR HALL SENSOR : use calibration table
  • TODO : use motor current offset.
  • VERIFY : use force fields
  • TODO : glue down hall sensor.


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 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

CEB NOTES

PO BOX 24489 Indianapolis IN 46224

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