Difference between revisions of "AKCPU2"
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| + | [[Medialab Documentation | Documentation HOME]] | ||
==SG Amps / Bridge Ref == | ==SG Amps / Bridge Ref == | ||
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340 ohm (full) bridge is driven from 5.0V supply though 470 (.1%) resistor. Thus bridge voltage is 2.39V (6.2mA). Actual value of 5V supply can be read from CPU. | 340 ohm (full) bridge is driven from 5.0V supply though 470 (.1%) resistor. Thus bridge voltage is 2.39V (6.2mA). Actual value of 5V supply can be read from CPU. | ||
| − | *SG1 (compression) : R1 = 2.0k, R2 parallel 1.58M -> gain of 790 | + | *SG1 (compression??) : R1 = 2.0k, R2 parallel 1.58M -> gain of 790 |
*SG2 (moment) : R1 = 4.7k, R2 parallel 1.58M -> gain of 336 | *SG2 (moment) : R1 = 4.7k, R2 parallel 1.58M -> gain of 336 | ||
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| + | ==firmware== | ||
| + | 4-23-07 : | ||
| + | * added state early_stance | ||
| + | |||
| + | 4-24-07 : | ||
| + | * removed friction compensation | ||
| + | * acceptable state machine completed | ||
| + | |||
| + | 4-25-07 : | ||
| + | * added idle state where K=0, B=10 | ||
| + | * removed VPM power | ||
| + | * experimented with impulse power where current is a function of torque | ||
| + | * finalized with i=k*(tau-40nM)^2 - where i is 13 amps at tau=120nM | ||
| + | * finalized gains | ||
Latest revision as of 23:39, 25 April 2007
SG Amps / Bridge Ref
INA326 based amplifiers.
340 ohm (full) bridge is driven from 5.0V supply though 470 (.1%) resistor. Thus bridge voltage is 2.39V (6.2mA). Actual value of 5V supply can be read from CPU.
- SG1 (compression??) : R1 = 2.0k, R2 parallel 1.58M -> gain of 790
- SG2 (moment) : R1 = 4.7k, R2 parallel 1.58M -> gain of 336
firmware
4-23-07 :
- added state early_stance
4-24-07 :
- removed friction compensation
- acceptable state machine completed
4-25-07 :
- added idle state where K=0, B=10
- removed VPM power
- experimented with impulse power where current is a function of torque
- finalized with i=k*(tau-40nM)^2 - where i is 13 amps at tau=120nM
- finalized gains
