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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