Difference between revisions of "Hours 0909"
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=Sep 09 hours= | =Sep 09 hours= | ||
+ | ==Tue Sep 22== | ||
+ | * 2:55 arrive: | ||
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==Mon Sep 21== | ==Mon Sep 21== | ||
*4pm - 12:20 -20 mins | *4pm - 12:20 -20 mins |
Revision as of 18:54, 22 September 2009
Contents
- 1 Sep 09 hours
- 1.1 Tue Sep 22
- 1.2 Mon Sep 21
- 1.3 Sun Sep 20
- 1.4 Sat Sep 19
- 1.5 Fri Sep 18
- 1.6 Thr Sep 17
- 1.7 Wed Sep 16
- 1.8 Tue Sep 15
- 1.9 Mon Sep 14
- 1.10 Sun Sep 13
- 1.11 Sat Sep 12
- 1.12 Fri Sep 11
- 1.13 Thur Sep 10
- 1.14 Wed Sep 9
- 1.15 Tue Sep 8
- 1.16 Mon Sep 7
- 1.17 Sun Sep 6
- 1.18 Sat Sep 5
- 1.19 Fri Sep 4
- 1.20 Thur Sep 3
- 1.21 Wed Sep 2
- 1.22 Tue Sep 1
- 1.23 aug 31
Sep 09 hours
Tue Sep 22
- 2:55 arrive:
Mon Sep 21
- 4pm - 12:20 -20 mins
- review progress of swifi_analysis
- get analysis to save / load the envelope, and to save results along the way
- create program to read the results file and create a text file for matlab.
- modify life_plot class to support multiple plots
- draw up the fixture system schematic, study how we could improve / simplify it. Most important is to isolate the SC from the PC. Either need isolated USB or switch to radio.
- meet with ES designer - G?
- investigate communication issue between AK and linux box.
Sun Sep 20
- 4:30p - 2:05am
- discussion of LF software status w/RC
- modify swifi data unpack to skip lines
- make use of unix head/tail to process large file
- test/debug the swifi_analysis class. verified the envelope expansion and trajectory test
- have reading the 1gb binary file from 9-19-09, finding the cycles, and doing cycle by cycle analysis and plotting!
Sat Sep 19
- 2 hrs
- develop code to retest belt to screen false positive
- restart fixture.
- clean up copley text output, modify class for more control of text output
- discuss network, blocking IO, and ED
- 5:00pm - 9pm
- update lifefixture log to be current with the past runs and drive methods.
- write code to parse lifefix log files
- write python code to produce live temperature plot from log file
Fri Sep 18
- 1 hr - emails, invoice May
- Arrive - 3:15pm - leave 5pm
- meetto meeting re boost w/RC and SM
- Arrive 8pm - 2.20pm (-45 mins phone)
- testing Wiport radios for how to get onto IW network
- figure out how to reset/configure WRT610N router then can experiment with security modes
- settle on using WEP64 and hidden SID. Reconfigure all working WiPorts (5 of them)
- document radios on wiki
- setup life fixture electronics, and start test
- discover power supply is dead, need to insert another, and wireup 47KuF for safety.
Thr Sep 17
- 5 mins - discuss status of LF w/RC
- 15 mins - discuss status of LF w/ED, discuss network requirements and problems with my PC network
- 3:30pm - 6:15pm (leave for Exo planet discussion)
- attempt to sort out network problems
- taking stock of SWIFI, prepare new radios.
- testing ability of Wiport to connect to network using various types of encryption
- Learn from ED we WPA2-personal key exchange and AES encryption
- return after meeting??? - lots of phone calls like i was driving
Wed Sep 16
- 45 mins - home - working on swifi_analysis
- 2:45p-7:30pm
- ordered power poles from powerwerk
- coded LF analysis, added envelope and trajectory error calculations - verified
- FET board #5 is bad now. appears to have been damaged yesterday before I arrived
- Located new FET board #8
- located failed component on LDWASH1 amp. Will need to get component from lab.
- setup drive electronics, zero back-drive, added 3rd power supply to reduce gnd currents.
- 11:30pm -4:40am
- repair LDWASH amp
- rephase copley amp, was have large currents.
- figure out problem with loadwasher amp settings (was off by a factor of 2)
- added trajectory position to SWIFI output
- have terminal programming logging
- have run_lifefix read resistance and compute temperature
Tue Sep 15
- 30 mins
- document (email) resistance measurement
- investigation into how to update the code in a running python program - without stopping it.
- 3:55pm - 2:10 am -1hr dinner w/RC
- discuss w/ED signals for Copley control
- find that USB serial cable for charge amp is damaged
- experiment with using a pair of loadwashers in parallel
- order more USB cables from usbgear.com - should arrive in 2 days
- interview AZ
- rewrite in modular manner the SWIFI support code for integration into life fix.
Mon Sep 14
- 20 mins phone w/ED re leaving move_ecat running indefinably (eg using signals)
- 11:55a-6:30pm -1:30 phone, -30 lunch
- 2nd phone discussion w/ED to demostrate the use of signals on the copley program
- phone discuss with RC, wants envelope for AK encoder
- find bug in the MC resistance measurement and recode data structures and for debug / reading from LF
Sun Sep 13
- 15 mins - admin
- 1+ 9:10p-12:55a
- clean up the class that runs the coply amplifier, Popen works, now can hold the servo position while the python script runs.
- clean up the charge amp class, reading back parameters now reflects the current state of the amp. required the pre commands.
Sat Sep 12
- hours 30 mins + 30 mins home depo
- discuss LF status with RC (nearly vibrated off table, ball nut and loadwasher out of AK)
- attempt to import large overnight text file into matlab. need to write a new converter.
- trip to HD to purchase blue SP and clamps to hold LF
- 4:05 - 9:10pm
- greatly improved Kistler charge amp class, mostly working
- 1 hr discussion / interview with Robot Designer
Fri Sep 11
- hours : 3:10pm to 9:30pm
- create background process for move_ecat from python, rewrite the copley_control class
- explain motor PI loop to ZH, discover improper saturation of I term.
- w/ZH use sweep frequency to drive fixture under mechanical various conditions
- start life fixture
Thur Sep 10
- 12:45 - 4:20 pm
- email re test fixture, phone with RC re lifefix; starting writing firmware to allow getting/setting MC variables by para_id, write python serial_port_helper; write program to test belt.
- 5pm - leave 3:55am (-2 hr for dinner) (AT IW)
- test min/max
- discuss with RC the torque ripple.
- replace broken belt
- write motor current function generator
- do belt resonance experiments, send plot to RC / ZH
- help a proper belt broken test
Wed Sep 9
- 4:05pm - 1am (-1 hr dinner w/RC) + 1.5 hrs on phone at home
- discuss status of fixture with Rob (wanted to see if there were problems.)
- spoke w/RC and ZH on status then tune up the AK to full power.
- Met with Kristin we experiment with lifefix to find cause of resonance
- experiments with life fix and Q of resonance
- clamped masses to end of drive ball screw, fixture, etc, nothing seemed to change resonance freq
- found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q
- confirmed ZERO cogging in motor outside of lifefix
- measured LW thrust with motor leads shorted, and when driving 'constant' current; found significant ripple.
Tue Sep 8
- 3:15 - 2:20aa
- working on life fix, demo results, RC observed that lw thrust is very low; we use loadcell as a conformation and discover there's a problem
- turns out that charge amp scale values were different from those on my PC viewer, and AK code ( guess they had been reset.)
- discuss w/ZH alignment of the ZH datasets. figure out how a PVT works,
- final turning of life fix and leave it running
- find that at high thrusts there are problems.
- modified ReadLoadCell.cpp - adjusted sample rate, added time to filename, improved file write
Mon Sep 7
- 4pm - 4:15am
- working on life fixture
- scripted pfcmd in linux, got test jit working
- burned out rs232 cable due to ground problems?
Sun Sep 6
- 4:30p - 5:30p
- incorporate reading of ABS encoder into 10 khz ISR
- add support to io_mile for zero mech angle offset (eg incremental encoder and abs encoder don't have the same zero.)
- 10:15p - 2:15p
- LF experiments with slower PVT files
- PVT file error causes max plantar flextion, other was full speed w/leads shorted
- thus belt breks due to one of these events
- returned to working in MILE encorer - include zero offset into the MC mode 2 boot sequenece
- implement MILE updates at 10 KHZ and enable an error check (mile vs INC)
- error check can force change in the MC SM state
- need different behavior when operating in LF mode
Sat Sep 5
- 1 hr - working on invoices
Fri Sep 4
- 2:20hrs
- ED email re MC not working, research SVN and email response
- experments with lifefix, load WB thrust profile
Thur Sep 3
- 4:35p - 2:40 a
- work on LF code and PI / FF tuning
- correct charge amp scale factors
- verify successful thrust table playback (triggered from motor position)
Wed Sep 2
- 5pm - 3:20 am -30 mins
- On LF, implement FF current loop control
- meet with Rob Lado for programming position
- document the freq sweep experiments, email to RC and ZH
Tue Sep 1
- 10:30 - 3:30 am
- wrote python class "lifefix_test_ and class "motor_controller" to config lifefixture.
- modified lifefix_support.c for ability to read/write parameters abstractly (by param ID)
- experiments with motor current loop PI parameters and determinate 3db current loop frequencies
aug 31
- arrive 3:30pm - leave 1:20am
- discuss python data collection with ED
- Zhixiu and I study the lifefixture and its control
- write code to generate sine forcing function, and sine sweep function
- study motor actual current vs desired current.