Hours 0911

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

Nov 2009

todo

• finalize schematics for MPD
• motor position function generator
• measure resistance on boot (incorporate into mode2)
• implement thermal model, w/updates from resistance measurement.
• order 10k arrays from digikey.!!!!!!!!
• get LF potential function
• for LF, if ABS - INC encoder error, then don't drop into mode 0!
• add "text code" the ASC output from SWIFI

thur nov 19

• 25 mins - phone, email dealing with Rev300 cracks and testing plan.

wed nov 18

• 25 mins discuss re boost converter model w/RC

tue nov 17

• 3 hrs - OOO - code development - lib_tic_timer, uart_msg.

mon nov 16

• 20 mins email re boost converter.

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

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

• 8pm - 1am
  • prepare S3 for acoustic experiment

thur nov 12

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 10

• 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.