Difference between revisions of "Hours 0911"
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− | = | + | =Nov 2009= |
==todo== | ==todo== | ||
− | * | + | * order flex cables |
− | * | + | * make PCBs for eddy current sense |
* measure resistance on boot (incorporate into mode2) | * measure resistance on boot (incorporate into mode2) | ||
* implement thermal model, w/updates from resistance measurement. | * implement thermal model, w/updates from resistance measurement. | ||
− | * | + | * incorporate JR3 into LF |
+ | |||
* get LF potential function | * get LF potential function | ||
− | * for LF, | + | * add "text code" into the ASC output from SWIFI |
− | * | + | * pickle with robo config to make parameter restoration easier. |
+ | |||
+ | = mon nov 30= | ||
+ | * LLL - working on knee firmware at 12:15 | ||
+ | * 2 hrs - calls / email through the day. | ||
+ | |||
+ | =sun nov 29= | ||
+ | * 3 hrs | ||
+ | **develop code to estimate core losses for various inductors. | ||
+ | **meet w/RC to discuss boost converter | ||
+ | * submit matlab code to calculate boost converter losses | ||
+ | * LLL - submit SVN knee updates | ||
+ | |||
+ | |||
+ | ==notes== | ||
+ | *EDDY current : http://archives.sensorsmag.com/articles/0998/edd0998/index.htm | ||
+ | |||
+ | =sat nov 28= | ||
+ | *6 hrs | ||
+ | **discuss w/ED JR3 code issue | ||
+ | **monitor lifefix status | ||
+ | **derive equations for boost converter losses | ||
+ | **develop code to simulate converter losses. | ||
+ | ==phone== | ||
+ | *RC 1 | ||
+ | *ED 6 | ||
+ | |||
+ | ==notes== | ||
+ | *PIC32 peripheral libary : http://www.johnloomis.org/microchip/docs/32-bit-Peripheral-Library-Guide.pdf | ||
+ | *USB framework : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537044 | ||
+ | *microchip tcpid state : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537041 | ||
+ | *Microchip enternet : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2504 | ||
+ | *SPI ethernet controller : [http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en541877] http://ww1.microchip.com/downloads/en/DeviceDoc/39662c.pdf | ||
+ | |||
+ | =fri nov 27= | ||
+ | *11:30a - 1:30p | ||
+ | ** reviewed emails re lifefix | ||
+ | ** reviewed controls for copley | ||
+ | ** looking into methods to use safety fets to stop the lifefix | ||
+ | ** worked with DG re restarting LF | ||
+ | |||
+ | *3pm - 9pm | ||
+ | **discuss w/ED JR3 code issue and need for CML library info | ||
+ | **re-arrange python code under SVN | ||
+ | ==phone== | ||
+ | *ED, 2 min | ||
+ | *IW90, 19 m | ||
+ | *RC, 3m | ||
+ | *ED 27m | ||
+ | *RC 1 | ||
+ | *RC 12 | ||
+ | |||
+ | ==notes== | ||
+ | * Web page of docs: http://www.copleycontrols.com/Motion/Downloads/accelnetEtherData.html | ||
+ | **http://www.copleycontrols.com/Motion/pdf/CMO_programmersGuide.pdf | ||
+ | **http://www.copleycontrols.com/Motion/pdf/CME2_User_Guide.pdf | ||
+ | |||
+ | =thur nov 26= | ||
+ | *9am-1:30p -45 | ||
+ | ** review eddy current document, eddy current sensor pcb code | ||
+ | ** JR3 code testing development, integration | ||
+ | |||
+ | *2:30pm - 7:30p | ||
+ | ** looking into problem with lifefix | ||
+ | ** retuned velocity loop | ||
+ | ** working on JR3 integration to run_lifefix_v3, find bug in JR3 wrapper | ||
+ | |||
+ | =wed nov 25= | ||
+ | *9am - 11am | ||
+ | ** testing, debug JR3 library, discussions w/ED. The new time stamp code causes a free error. | ||
+ | * OOO k2hall layout | ||
+ | * 45 mins : PCB spiral code for eddy current. discuss w/RC re coming SM memo | ||
+ | * 3pm-12:15am | ||
+ | ** working on JR3 code integration for LF | ||
+ | ** purchased dinner from TD for 3 of us | ||
+ | ** | ||
+ | |||
+ | =tue nov 24= | ||
+ | *3:30pm - 10:20pm | ||
+ | * work w/GG on framework and how to test | ||
+ | * work w/CA on Rev300 pcb | ||
+ | * test JR3 wrapper | ||
+ | * test LF | ||
+ | |||
+ | =mon nov 23= | ||
+ | *4 hrs - OOO - emg PCB development | ||
+ | *7:30p-11:15p | ||
+ | **meet w/DG - discuss lifefix, V2, white noise | ||
+ | **look into parameters for WB tuning | ||
+ | **meet w/RC discuss LRC and boost cvt model | ||
+ | |||
+ | =sun nov 22= | ||
+ | *4 hrs - OOO - develop port mapper, and getdigin command to msg system | ||
+ | *30 mins - eddy current sensor reseach | ||
+ | |||
+ | =sat nov 21= | ||
+ | *2 hrs - OOO - working on SPI message system | ||
+ | |||
+ | =fri nov 20= | ||
+ | *9am - 12:45am | ||
+ | **email re tuning, discussion w/RN re boost, email summary of boost | ||
+ | *1 hr - inductor search, core loss calculations, air core toroid program | ||
+ | *30 mins : bench testing of 300-217-010 | ||
+ | *2 hr : OOO - code development, start SPI library. | ||
+ | |||
+ | =thur nov 19= | ||
+ | *25 mins - phone, email dealing with Rev300 cracks and testing plan. | ||
+ | *30 mins - review boost converter schematic. | ||
+ | *30 mins - assist w/tuning, discussion w/Gary re RTOS | ||
+ | *1hr - testing R300-217 PCA. | ||
+ | *4 hrs -OOO - message code development. | ||
+ | |||
+ | =wed nov 18= | ||
+ | *25 mins discuss re boost converter model w/RC | ||
+ | ==notes== | ||
+ | *WM10211-ND is the 4" length | ||
+ | *on digikey you can list all the lengths - with the following search terms: | ||
+ | *molex 21020 "24 pos" | ||
+ | |||
+ | =tue nov 17= | ||
+ | * 20 mins email to RN re boost converter. | ||
+ | * 2 hrs - many emails / interruptions throughout day. email GG re inventory file | ||
+ | * 3 hrs - OOO - code development - lib_tic_timer, uart_msg. | ||
+ | * evening phone discussion w/RC referenced in email | ||
+ | |||
+ | =mon nov 16= | ||
+ | * demo of S3 to RIC | ||
+ | * return to BOS | ||
+ | |||
+ | =sun nov 15= | ||
+ | *purchase laptop and configure, travel to RIC | ||
+ | |||
+ | =sat nov 14= | ||
+ | *12pm - 7:30p -15 | ||
+ | **getting S3 operational - exponential voltage mode - SM wasn't running due to run level | ||
+ | **acoustic measurements | ||
+ | ==notes== | ||
+ | *commands | ||
+ | ** 403 5000 : tau=5% | ||
+ | **401 -3000 -34000 | ||
+ | |||
+ | |||
+ | |||
+ | =fri nov 13= | ||
+ | *9:20a-1pm | ||
+ | **boost converter design | ||
+ | *7pm-1am | ||
+ | **prepare S3 for acoustic experiment | ||
+ | ==notes== | ||
+ | *High side current monitor ICs: INA168-9, INA138-9, INA270-1, INA210,211,212,4,9 INA 193,196,197 | ||
+ | *INA139 CMRR -~60db @ 1Mhz w/G=100 | ||
+ | *INA209 - I2C high side current and voltage measurement. | ||
+ | |||
+ | *INA210-214 H&L side, offer high gain, but not enough common mode rejection @ 1MHz (-40db), and also only 10khz BW (or less), allows DC offset and thus is bi-directional | ||
+ | |||
+ | *INA200-202 - gain to 100khz, but not enough CMRR and PSRR | ||
+ | *INA203-205 - current shunt montor w/2 comps - 500khz - TSSOP14 | ||
+ | *INA193-198 - voltage output, 100khz, 50db CMRR @ 1mhz | ||
+ | *AD8211 - H&Low side, high BW, good CMRR, gain=20 | ||
+ | *AD8212 - adjust gain, but BW decreases w/gain | ||
+ | *AD8213 - dual monitor, G=20, MSOP10, high and low side | ||
+ | |||
+ | *7pm mac book order. | ||
+ | *8pm - 1am | ||
+ | ** prepare S3 for acoustic experiment | ||
+ | |||
+ | =thur nov 12= | ||
+ | * emails re SVN and SWIFI builds with GG and CA | ||
+ | * boost converter design in morning in office | ||
+ | * boost converter design in afternoon at LAB | ||
+ | * meet with RN and RC in evening | ||
+ | ==notes== | ||
+ | *4amp half bridge driver : http://focus.ti.com/lit/ds/symlink/tps28225.pdf | ||
+ | *schottky - sod-323 : http://www.nxp.com/acrobat_download/datasheets/PMEG3020EH_EJ_3.pdf | ||
+ | |||
+ | http://www.st.com/stonline/products/literature/ds/14808/l6743b.pdf | ||
+ | http://www.st.com/stonline/products/literature/ds/13827/l6743q.pdf | ||
+ | http://www.intersil.com/data/fn/fn9221.pdf | ||
+ | |||
+ | =wed nov 11= | ||
+ | *90 mins : boost converter analysis | ||
+ | *3pm - 1:30am | ||
+ | **assist w/boost converter project | ||
+ | **implement supply voltage correction to MC. | ||
+ | |||
+ | =tue nov 10 = | ||
+ | *15 mins : emails | ||
+ | *OOO 3 hrs - commutations development | ||
+ | *OOO 2 hrs - hal_lib development | ||
+ | *OOO | ||
+ | * 5:30p-9:30p | ||
+ | ** discuss LF and SC w/DG, software w/GG, JR3 w/ED SM w/RC | ||
+ | |||
+ | =mon nov 9= | ||
+ | * 2.5 hrs : | ||
+ | ** emails w/RN re SM vision, GG and CA re battery packs, w/RC re status | ||
+ | ** phone discuss JR3 w/ED | ||
+ | ** re-route, complete WIP4d routing of wip4e | ||
+ | * OOO 4 hrs developing new MPD style communication algorithms. | ||
+ | |||
+ | =sun nov 8= | ||
+ | * 2 hrs | ||
+ | ** OOO WIP4d and WIP4e work | ||
+ | ** OOO review xilinx options | ||
+ | |||
+ | =sat nov 7= | ||
+ | * 4 hrs | ||
+ | ** 000 worked on WIP4d and WIP4e - decided to make EMG a seperate daugerboard. | ||
+ | ** OOO review Xilinx and TI DSPs | ||
+ | |||
+ | =fri nov 6= | ||
+ | *12:45p-1:15pm | ||
+ | ** email, record keeping, submit SVN changes after install new version, issues resolving conflicts. | ||
+ | * OOO 5 hrs - worked on WIP4d and WIP4e, and EMG4 interface | ||
+ | |||
+ | =thur nov 5= | ||
+ | *9am - 1:20pm -25 | ||
+ | **email about the boost converter project. | ||
+ | **review possibilities of using pic32 in SWIFI, and on robot SC | ||
+ | ***will need to wire PGC2, and PGC2 to pins 16,17. | ||
+ | ***also errata states that TDO outputs a clock signal at times... doesn't appear to be issue on either SWIFI or SC | ||
+ | **developing (floating point) code for the function generator. | ||
+ | **develop simple malloc | ||
+ | * 5pm - 8:15pm | ||
+ | ** order PIC32s | ||
+ | ** improve SVN distro for matlab and telemetry. | ||
+ | ** set up backup PC for ankle tuning / collection | ||
+ | ** tuning trial | ||
+ | ** experiment w/use of pizeo in place of vibe motor | ||
=wed nov 4= | =wed nov 4= | ||
− | *10:30a - 12:20p | + | * 10:30a - 12:20p |
− | **wip4d routing appears to be complete. | + | ** wip4d routing appears to be complete. |
** registry keys... | ** registry keys... | ||
− | *1:25p- | + | *1:25p-3:25 |
− | **Discuss python JR3 status w/ED | + | ** Discuss python JR3 status w/ED |
− | **Discuss compiler issue w/GG | + | ** Discuss compiler issue w/GG |
− | **update dirs w/SVN changes at bench. | + | ** update dirs w/SVN changes at bench. |
+ | * 4:15pm - 7:45pm -30 | ||
+ | ** discuss python status w/ED, order on method of passing back data on command line | ||
+ | ** | ||
+ | |||
=tue nov 3= | =tue nov 3= |
Latest revision as of 18:23, 25 January 2010
Contents
- 1 Nov 2009
- 2 mon nov 30
- 3 sun nov 29
- 4 sat nov 28
- 5 fri nov 27
- 6 thur nov 26
- 7 wed nov 25
- 8 tue nov 24
- 9 mon nov 23
- 10 sun nov 22
- 11 sat nov 21
- 12 fri nov 20
- 13 thur nov 19
- 14 wed nov 18
- 15 tue nov 17
- 16 mon nov 16
- 17 sun nov 15
- 18 sat nov 14
- 19 fri nov 13
- 20 thur nov 12
- 21 wed nov 11
- 22 tue nov 10
- 23 mon nov 9
- 24 sun nov 8
- 25 sat nov 7
- 26 fri nov 6
- 27 thur nov 5
- 28 wed nov 4
- 29 tue nov 3
- 30 mon nov 2
- 31 sun nov 1
Nov 2009
todo
- order flex cables
- make PCBs for eddy current sense
- measure resistance on boot (incorporate into mode2)
- implement thermal model, w/updates from resistance measurement.
- incorporate JR3 into LF
- get LF potential function
- add "text code" into the ASC output from SWIFI
- pickle with robo config to make parameter restoration easier.
mon nov 30
- LLL - working on knee firmware at 12:15
- 2 hrs - calls / email through the day.
sun nov 29
- 3 hrs
- develop code to estimate core losses for various inductors.
- meet w/RC to discuss boost converter
- submit matlab code to calculate boost converter losses
- LLL - submit SVN knee updates
notes
sat nov 28
- 6 hrs
- discuss w/ED JR3 code issue
- monitor lifefix status
- derive equations for boost converter losses
- develop code to simulate converter losses.
phone
- RC 1
- ED 6
notes
- PIC32 peripheral libary : http://www.johnloomis.org/microchip/docs/32-bit-Peripheral-Library-Guide.pdf
- USB framework : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537044
- microchip tcpid state : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2680&dDocName=en537041
- Microchip enternet : http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2504
- SPI ethernet controller : [1] http://ww1.microchip.com/downloads/en/DeviceDoc/39662c.pdf
fri nov 27
- 11:30a - 1:30p
- reviewed emails re lifefix
- reviewed controls for copley
- looking into methods to use safety fets to stop the lifefix
- worked with DG re restarting LF
- 3pm - 9pm
- discuss w/ED JR3 code issue and need for CML library info
- re-arrange python code under SVN
phone
- ED, 2 min
- IW90, 19 m
- RC, 3m
- ED 27m
- RC 1
- RC 12
notes
- Web page of docs: http://www.copleycontrols.com/Motion/Downloads/accelnetEtherData.html
thur nov 26
- 9am-1:30p -45
- review eddy current document, eddy current sensor pcb code
- JR3 code testing development, integration
- 2:30pm - 7:30p
- looking into problem with lifefix
- retuned velocity loop
- working on JR3 integration to run_lifefix_v3, find bug in JR3 wrapper
wed nov 25
- 9am - 11am
- testing, debug JR3 library, discussions w/ED. The new time stamp code causes a free error.
- OOO k2hall layout
- 45 mins : PCB spiral code for eddy current. discuss w/RC re coming SM memo
- 3pm-12:15am
- working on JR3 code integration for LF
- purchased dinner from TD for 3 of us
tue nov 24
- 3:30pm - 10:20pm
- work w/GG on framework and how to test
- work w/CA on Rev300 pcb
- test JR3 wrapper
- test LF
mon nov 23
- 4 hrs - OOO - emg PCB development
- 7:30p-11:15p
- meet w/DG - discuss lifefix, V2, white noise
- look into parameters for WB tuning
- meet w/RC discuss LRC and boost cvt model
sun nov 22
- 4 hrs - OOO - develop port mapper, and getdigin command to msg system
- 30 mins - eddy current sensor reseach
sat nov 21
- 2 hrs - OOO - working on SPI message system
fri nov 20
- 9am - 12:45am
- email re tuning, discussion w/RN re boost, email summary of boost
- 1 hr - inductor search, core loss calculations, air core toroid program
- 30 mins : bench testing of 300-217-010
- 2 hr : OOO - code development, start SPI library.
thur nov 19
- 25 mins - phone, email dealing with Rev300 cracks and testing plan.
- 30 mins - review boost converter schematic.
- 30 mins - assist w/tuning, discussion w/Gary re RTOS
- 1hr - testing R300-217 PCA.
- 4 hrs -OOO - message code development.
wed nov 18
- 25 mins discuss re boost converter model w/RC
notes
- WM10211-ND is the 4" length
- on digikey you can list all the lengths - with the following search terms:
- molex 21020 "24 pos"
tue nov 17
- 20 mins email to RN re boost converter.
- 2 hrs - many emails / interruptions throughout day. email GG re inventory file
- 3 hrs - OOO - code development - lib_tic_timer, uart_msg.
- evening phone discussion w/RC referenced in email
mon nov 16
- demo of S3 to RIC
- return to BOS
sun nov 15
- purchase laptop and configure, travel to RIC
sat nov 14
- 12pm - 7:30p -15
- getting S3 operational - exponential voltage mode - SM wasn't running due to run level
- acoustic measurements
notes
- commands
- 403 5000 : tau=5%
- 401 -3000 -34000
fri nov 13
- 9:20a-1pm
- boost converter design
- 7pm-1am
- prepare S3 for acoustic experiment
notes
- High side current monitor ICs: INA168-9, INA138-9, INA270-1, INA210,211,212,4,9 INA 193,196,197
- INA139 CMRR -~60db @ 1Mhz w/G=100
- INA209 - I2C high side current and voltage measurement.
- INA210-214 H&L side, offer high gain, but not enough common mode rejection @ 1MHz (-40db), and also only 10khz BW (or less), allows DC offset and thus is bi-directional
- INA200-202 - gain to 100khz, but not enough CMRR and PSRR
- INA203-205 - current shunt montor w/2 comps - 500khz - TSSOP14
- INA193-198 - voltage output, 100khz, 50db CMRR @ 1mhz
- AD8211 - H&Low side, high BW, good CMRR, gain=20
- AD8212 - adjust gain, but BW decreases w/gain
- AD8213 - dual monitor, G=20, MSOP10, high and low side
- 7pm mac book order.
- 8pm - 1am
- prepare S3 for acoustic experiment
thur nov 12
- emails re SVN and SWIFI builds with GG and CA
- boost converter design in morning in office
- boost converter design in afternoon at LAB
- meet with RN and RC in evening
notes
- 4amp half bridge driver : http://focus.ti.com/lit/ds/symlink/tps28225.pdf
- schottky - sod-323 : http://www.nxp.com/acrobat_download/datasheets/PMEG3020EH_EJ_3.pdf
http://www.st.com/stonline/products/literature/ds/14808/l6743b.pdf http://www.st.com/stonline/products/literature/ds/13827/l6743q.pdf http://www.intersil.com/data/fn/fn9221.pdf
wed nov 11
- 90 mins : boost converter analysis
- 3pm - 1:30am
- assist w/boost converter project
- implement supply voltage correction to MC.
tue nov 10
- 15 mins : emails
- OOO 3 hrs - commutations development
- OOO 2 hrs - hal_lib development
- OOO
- 5:30p-9:30p
- discuss LF and SC w/DG, software w/GG, JR3 w/ED SM w/RC
mon nov 9
- 2.5 hrs :
- emails w/RN re SM vision, GG and CA re battery packs, w/RC re status
- phone discuss JR3 w/ED
- re-route, complete WIP4d routing of wip4e
- OOO 4 hrs developing new MPD style communication algorithms.
sun nov 8
- 2 hrs
- OOO WIP4d and WIP4e work
- OOO review xilinx options
sat nov 7
- 4 hrs
- 000 worked on WIP4d and WIP4e - decided to make EMG a seperate daugerboard.
- OOO review Xilinx and TI DSPs
fri nov 6
- 12:45p-1:15pm
- email, record keeping, submit SVN changes after install new version, issues resolving conflicts.
- OOO 5 hrs - worked on WIP4d and WIP4e, and EMG4 interface
thur nov 5
- 9am - 1:20pm -25
- email about the boost converter project.
- review possibilities of using pic32 in SWIFI, and on robot SC
- will need to wire PGC2, and PGC2 to pins 16,17.
- also errata states that TDO outputs a clock signal at times... doesn't appear to be issue on either SWIFI or SC
- developing (floating point) code for the function generator.
- develop simple malloc
- 5pm - 8:15pm
- order PIC32s
- improve SVN distro for matlab and telemetry.
- set up backup PC for ankle tuning / collection
- tuning trial
- experiment w/use of pizeo in place of vibe motor
wed nov 4
- 10:30a - 12:20p
- wip4d routing appears to be complete.
- registry keys...
- 1:25p-3:25
- Discuss python JR3 status w/ED
- Discuss compiler issue w/GG
- update dirs w/SVN changes at bench.
- 4:15pm - 7:45pm -30
- discuss python status w/ED, order on method of passing back data on command line
tue nov 3
- 8:00a - 12:15p
- add registry entries for use of MILE encoder, instant on.
- expansion of keys and documentation
- experiment with twiki
- 5-8pm
- make wip4c revisions - create wip4d
- continue re-organization of support scripts
- setup SWIFI for use in lab.
- 10:05p-12:10a
- setup SWIFI for use in lab.
- modify keys registry methods, hash won't be used on robot, PC will verify the whole table.
- SVN issues w/wip4d. and routing.
mon nov 2
- 10:25a-1:30pm -15 min
- emails re plans for today. locate robots, MW re ankle block diagram.
- contact Alena re locating robots
- review rev300 schematics, contact MR, make minor changes to IMU
- complete and mail invoice
- 2:55p - 5:40p (-20 mins)
- completed review of final schematics.
- start re-organization of python / matlab support tools
- 5:50pm - 8:15pm
- meet w/GG and CA - review programming and real-life software debugging!
sun nov 1
- 11:50a-4:20pm
- deliver cable to track.
- SVN updates.
- work on invoice.
- meet w/PB re O2meter.
- review some data sets from track study, make sure there are .m, .py tools copied over to assist.