Difference between revisions of "Upright"
From DIDEAS Wiki
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=AKCPU2Z Modifications= | =AKCPU2Z Modifications= | ||
* verify JR1 is in position in 2-3 | * verify JR1 is in position in 2-3 | ||
| − | * change RB1 from 470 ohm to 0.0 ohms. | + | * change RB1 from 470 ohm to 0.0 ohms. - this is to power the strain adapter board |
=UPSG1= | =UPSG1= | ||
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** 2) gear ratio is higher. | ** 2) gear ratio is higher. | ||
** even in 2x mode, max planterflexion results in count of -27k, close to limit of -32k | ** even in 2x mode, max planterflexion results in count of -27k, close to limit of -32k | ||
| + | * qei.c modified to support both 2x and 4x modes, qei.c needs ankle consts. | ||
| + | * timer3.c modified to change sign of motor encoder. | ||
| + | * statemachine.c modified to not have initial dosaflexion | ||
Revision as of 23:57, 11 July 2008
Sensors
- Hall sensor : AN12 -> PB12 -> adc_0
- SG1 (torque) -> SG channel 1 (2.0k, 500x) -> PB0 -> adc_1
- SG2 (compression) -> SG channel 2 (8.2k, 122x) -> PB1 -> adc_2
- SG3 (series spring) -> SG channel 3 (5.9k, 170x) -> PB2 -> adc_3
- INA326 gain : 2 * R2/R1 = (2 * 500k/xx)
AKCPU2Z Modifications
- verify JR1 is in position in 2-3
- change RB1 from 470 ohm to 0.0 ohms. - this is to power the strain adapter board
UPSG1
- U1-U3 populated with 4.096V reference, X60003CIG3Z-41T1CT-ND
BLMD6C
- more details for uprights here.
Software Modifications
- QEI changed from 4x to 2x mode as:
- 1) encoder has higher resolution
- 2) gear ratio is higher.
- even in 2x mode, max planterflexion results in count of -27k, close to limit of -32k
- qei.c modified to support both 2x and 4x modes, qei.c needs ankle consts.
- timer3.c modified to change sign of motor encoder.
- statemachine.c modified to not have initial dosaflexion
