Difference between revisions of "Hours 0912"

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==todo==
 
==todo==
−
* STAR MARKET - thyme packets,
+
 
−
* order flex cables
+
* run experiment to verify INC and MILE
 +
* save step response with static_test.py
 +
* make more BT boards
 +
* hall sensor for knee
 +
* matlab plot INI file.
 +
* digikey: order flex cables,
 
* make PCBs for eddy current sense
 
* make PCBs for eddy current sense
 
* measure resistance on boot (incorporate into mode2)
 
* measure resistance on boot (incorporate into mode2)
Line 12: Line 17:
 
* add "text code" into the ASC output from SWIFI
 
* add "text code" into the ASC output from SWIFI
 
* pickle with robo config to make parameter restoration easier.
 
* pickle with robo config to make parameter restoration easier.
 +
  
 
= tue dec 1 =
 
= tue dec 1 =
 +
*lab office moving problem
 +
 
= wed dec 2=
 
= wed dec 2=
 +
==phone==
 +
* HH 15 min
 +
 
= thu dec 3=
 
= thu dec 3=
 
*15 min : phone discussion w/GG re lifefix
 
*15 min : phone discussion w/GG re lifefix
 +
*20 mins : SH
 
*15 min : phone discussion w/HH and GG re operation of PP
 
*15 min : phone discussion w/HH and GG re operation of PP
  
Line 26: Line 38:
 
*1:10 discuss w/GG overview of the lifefix, and derivatives of the linear hall sensor
 
*1:10 discuss w/GG overview of the lifefix, and derivatives of the linear hall sensor
 
*30 mins analyze linear hall sensor data, email plots and assessment
 
*30 mins analyze linear hall sensor data, email plots and assessment
−
 
+
==phone==
 +
*35 mins phone GG (1:33pm)
 +
*39 mins phone GG (2:55pm)
 
==notes==
 
==notes==
 
*thesis with reference to planer inductor calculation : http://etd.fcla.edu/SF/SFE0000144/John_Capwell_Thesis.pdf
 
*thesis with reference to planer inductor calculation : http://etd.fcla.edu/SF/SFE0000144/John_Capwell_Thesis.pdf
Line 65: Line 79:
 
** modify firmware to open motor leads in mode 0
 
** modify firmware to open motor leads in mode 0
 
** add jr3 min, max to run lifefix
 
** add jr3 min, max to run lifefix
 +
==phone==
 +
*3 wRC (11:45a)
 +
*12 wRC (1pm)
 +
*1 ED
 +
*ED 7 (11:10p)
 +
*ED 8  (12:28am)
  
 
=thur dec 10=
 
=thur dec 10=
Line 74: Line 94:
 
* 12:30p - 1:45p
 
* 12:30p - 1:45p
 
** will add code to encoder position and drift.
 
** will add code to encoder position and drift.
−
** added code to zero the LFrobot motor current
+
** added code to cause zero LF robot motor current when the thrust scale factor is reduced
 
** discuss w/DG LF status and motor needs, will build 2nd LFrobot for testing.  we will run potential function
 
** discuss w/DG LF status and motor needs, will build 2nd LFrobot for testing.  we will run potential function
  
Line 88: Line 108:
 
**phone w/ED re how to get MC to get past commutation, fix the code
 
**phone w/ED re how to get MC to get past commutation, fix the code
 
**at IW to help with LF
 
**at IW to help with LF
−
**assist DG and CA to make in-system motor resistance measurment - seems to be lots of variability
+
**assist DG and CA to make in-system motor resistance measurement - seems to be lots of variability
 
** improvements to LF code.   
 
** improvements to LF code.   
 
***command line options to set min run interval and total run duration
 
***command line options to set min run interval and total run duration
Line 100: Line 120:
 
=sat dec 12=
 
=sat dec 12=
 
* 11a-1pm  
 
* 11a-1pm  
−
** reviewing charge amp code for how errors are processed, code up improvments and partially test
+
** reviewing charge amp code for how errors are processed, code up improvements and partially test
 
** review LF status, send email
 
** review LF status, send email
 +
*2:30p - 9pm
 +
**testing Rev300 SC/MC, testing mile encoder
 +
**modify SC and MC code to work on Rev300 hardware
 +
**get bench test program running.
 +
 +
= sun dec 13=
 +
*10a - 2:30 p
 +
** testing the EEPROM keys, add support into benchtest
 +
** verify keys can run a script file
 +
** make use of the keys in motor_init, etc.
 +
** experiment with playing JR3 output as a sound file.
 +
** email DG re status of fixture.
 +
 +
*4p -  1:10am (-2hr) (-1hr)
 +
** matlab compilation of plot_lifefix to standalone
 +
** developing procedure to bring up new boards.  [[Benchtest_users#prepare_a_new_board]]
 +
 +
** fix timing issue with mile encoder firmware - make more compliant with "Fast mode spec"
 +
 +
= mon dec 14=
 +
* 10am - 1:30 am (yes ~15 hrs)  - 45 mins
 +
** prepare for meeting with RC and RN
 +
** RC boost converter pre-meeting
 +
** RC & RN meeting
 +
** GG, DkG, RC battery and system architecture meeting
 +
** meeting with DG re lifefix.
 +
** create lifefix static_test program
 +
 +
==notes==
 +
*http://www.mathworks.com/support/solutions/en/data/1-1I5TNS/index.html
 +
*C:\Program Files\Microsoft Visual Studio 8\VC\bin
 +
*c:/Program Files/MATLAB/R2007b/bin/win32/mexopts/msvc80engmatopts.bat
 +
 +
= tue dec 15 =
 +
* 10am - 10pm - 1hr
 +
** emails re LTF status
 +
** static_test.py development
 +
** email GG re swifi plotting, and how to change data
 +
** discussion with RC re GG software project
 +
** at IW, assist GG with PP hold software
 +
** discuss w/RC bio results and compare with robot.
 +
** work with DG on LTF experiment
 +
** continue static test development, logging of data, start (multi hour) run.
 +
 +
=wed dec 16=
 +
* 11a - 1:30p
 +
** review LTF data, write view program for DG, send email summary.
 +
 +
*2:30p - 7pm (-20)
 +
** send CA info on order Wiport, setup BT wiki page.
 +
** discuss w/GG operation of robot 'sensors.c'
 +
** discuss w/ED status of move_ecat
 +
** improve charge amp class to do automatic tx read
 +
** various emails.
 +
** change static_test to zero charge amp only at the start, and call move_ecat only once per position change
 +
** re-run static_test with better force measurement
 +
*30 mins
 +
** review INC-MILE data, document the encoder difference
 +
** review LFT static test status
 +
 +
==notes==
 +
*http://www.gridconnect.com/wi.html
 +
 +
 +
=thur dec 17=
 +
*9am - 11:15 pm -1 -30
 +
**LTF analysis, documenting in wiki
 +
**assistance w/GG HH re spld tuning
 +
**assist with writing code for spld
 +
**discuss LTF w/DG
 +
**perform LTF sine sweep and analysis.
 +
 +
=fri dec 18=
 +
*1 hr boost converter - review schematic, email
 +
 +
=sat dec 19=
 +
*2 hrs - LTF analysis
 +
* 2p-9:30p - 30 : OOO
 +
** verify processing of spi Rx message
 +
=sun dec 20=
 +
*6 hrs : OOO
 +
** develope use of X-macros
 +
** code to get/set parameters
 +
** discuss with HH code dev plan
 +
 +
=mon dec 21=
 +
*1 hr - OOO : code to get/set parameters, document same
 +
*12:30-10:55p
 +
**discuss with GG status
 +
**discuss w/HH algorithm plan  tork = k*(th-thQ) where thQ = -beta*theta_H^2
 +
**implement algorithm and test on HH (controller_ppf)
 +
**discuss new algorithm and implement new algorithm which is successful
 +
**recode screen to make easy for tuning.
 +
**review LTF science, and encoder code.
 +
 +
 +
=tue dec 22=
 +
* 3 hrs
 +
** email CA status of LD2
 +
** discuss w/HH detailed operation of TC controller.
 +
** document / describe tail spring controller
 +
 +
=wed dec 23=
 +
*2 hrs - LTF data, analysis, create plots
 +
*45 min discuss w/RC and DG re LTF status and Tuesday study lockup causes, changes.
 +
=thur dec 24=
 +
* 2 hrs
 +
** LTF analysis
 +
** phone ED network router problem
 +
*5pm - 10pm
 +
** experiments with LTF - looking for cause of torque ripple
 +
** torque ripple appears to be related to mode2 - as
 +
** changed tk_mot.InitUserParms  to take an encoder resolution parameter.
 +
 +
=fri dec 25=
 +
*2 hr
 +
** LTF MC code development - explored memory usage issues
 +
** scaled white noise table, created in C
 +
*12:15p-5pm
 +
** tested LTF FLASH thrust table
 +
** code to adjust encoder resolution to arbitrary value
 +
** with encoder resolution off by one, verified that motion stops after ~250 rotations
 +
* 1 hr
 +
** create a JR3 log program separate from the supporting class.
 +
** review encoder data and parameter synchronization
 +
** test stimulation new functions
 +
=sat dec 26=
 +
* 12:30p-3:50pm
 +
** ran the LTF dynamic experiments, converted data, documented on wiki, and email DG
 +
*30m admin
 +
 +
 +
=sun dec 27=
 +
*30 review and purchase replacement monitor
 +
*3:55-5:30pm
 +
**analysis of white noise and sine sweeps.
 +
**admin
 +
 +
*meet w/RC 4legals - discuss MILE enc, eddy current sensor, LTF results.
 +
*1.5 hrs - OOO - complete coding of "process_parameters".  thinking better to have a single param list and use const static size field.
 +
 +
=mon dec 28=
 +
*2.5 hrs
 +
**many emails re LTF
 +
**review LTF data
 +
**create new MC firmware with new white noise stimulus table.
 +
**30 mins phone DG discuss LTF
 +
**1.5 hrs phone w/DG discuss LTF, bring up new firmware and run white noise test
 +
**30 mins LTF complete tests and data conversion
 +
 +
=tue dec 29=
 +
*30 mins - assist CA and GG with present version of firmware, and documentation for PCB layout.
 +
*3pm - 8:30p
 +
** discuss with DG LTF white noise results
 +
** discuss w/GG Rev300 software merge
 +
** show CA and GG how to reprogram a Wiport
 +
 +
=wed dec 30=
 +
*30m emails DG and GG
 +
* 3pm-9:15p
 +
** assist GG and CA w/SIFI firmware
 +
** locate cause of RPM and qIq issues on MC firmware, caused by scaling error with MILE
 +
** update LTF with new MC firmware and test.
 +
 +
=thur dec 31=
 +
*admin - review work from late nov
 +
**30 mins
 +
*EMG development.

Latest revision as of 14:12, 3 January 2010

Dec 2009

todo

  • run experiment to verify INC and MILE
  • save step response with static_test.py
  • make more BT boards
  • hall sensor for knee
  • matlab plot INI file.
  • digikey: order flex cables,
  • make PCBs for eddy current sense
  • measure resistance on boot (incorporate into mode2)
  • implement thermal model, w/updates from resistance measurement.
  • get LF potential function
  • add "text code" into the ASC output from SWIFI
  • pickle with robo config to make parameter restoration easier.


tue dec 1

  • lab office moving problem

wed dec 2

phone

  • HH 15 min

thu dec 3

  • 15 min : phone discussion w/GG re lifefix
  • 20 mins : SH
  • 15 min : phone discussion w/HH and GG re operation of PP



fri dec 4

  • 45 mins on eddy current sensor - calculate inductance and Q factor.
  • 1:10 discuss w/GG overview of the lifefix, and derivatives of the linear hall sensor
  • 30 mins analyze linear hall sensor data, email plots and assessment

phone

  • 35 mins phone GG (1:33pm)
  • 39 mins phone GG (2:55pm)

notes


sat dec 5

  • working on knee code

sun dec 6

  • 30 mins - experiments with Eddy current sensor.
  • working on knee code

mon dec 7

  • 1pm - 5:20p
    • meet w/ HH and GG to explore tuning and PFF
    • meet w/ GG to discuss code
    • discuss EMI freqs w/DkG

tue dec 8

  • 1pm - 6.30p
    • tuning w/HH
    • code mods w/GG
    • assist w/BT issue
    • assist w/LF issues
    • looking into cause of LF UDP to PC issue

wed dec 9

  • 10 min discussion w/RC re lifefix interlock
  • 2pm - 7pm
    • set running of LF, resulting on motor overheat
    • continue LF discussion, stratagies for avoiding failures
  • 9:20-2am
    • add retry for motor temperature measurment
    • exponential increase in cooling time
    • modify firmware to open motor leads in mode 0
    • add jr3 min, max to run lifefix

phone

  • 3 wRC (11:45a)
  • 12 wRC (1pm)
  • 1 ED
  • ED 7 (11:10p)
  • ED 8 (12:28am)

thur dec 10

  • 10am - 12n
    • code improvements re run_lifefix_v2 (add time difference)
    • SVN updates re lifefix
    • discuss w/ED JR3 issue
    • discuss w/RC re MILE status
  • 12:30p - 1:45p
    • will add code to encoder position and drift.
    • added code to cause zero LF robot motor current when the thrust scale factor is reduced
    • discuss w/DG LF status and motor needs, will build 2nd LFrobot for testing. we will run potential function
  • 6:15p - 8:45p
    • disuss w/GG and DG lifefix improvements
    • test and improve lifefix code, looking into cause of JR3 timing anomaly.
  • 11:00p - 1:45a
    • work with MILE encoder

fri dec 11

  • 10am - 9pm -0.5 -1.15
    • phone w/ED re how to get MC to get past commutation, fix the code
    • at IW to help with LF
    • assist DG and CA to make in-system motor resistance measurement - seems to be lots of variability
    • improvements to LF code.
      • command line options to set min run interval and total run duration
      • small thrust will zero motor current and reduce PI parameters


    • phone w/RN re boost conveter, review HR_PWM module for dspic


sat dec 12

  • 11a-1pm
    • reviewing charge amp code for how errors are processed, code up improvements and partially test
    • review LF status, send email
  • 2:30p - 9pm
    • testing Rev300 SC/MC, testing mile encoder
    • modify SC and MC code to work on Rev300 hardware
    • get bench test program running.

sun dec 13

  • 10a - 2:30 p
    • testing the EEPROM keys, add support into benchtest
    • verify keys can run a script file
    • make use of the keys in motor_init, etc.
    • experiment with playing JR3 output as a sound file.
    • email DG re status of fixture.
    • fix timing issue with mile encoder firmware - make more compliant with "Fast mode spec"

mon dec 14

  • 10am - 1:30 am (yes ~15 hrs) - 45 mins
    • prepare for meeting with RC and RN
    • RC boost converter pre-meeting
    • RC & RN meeting
    • GG, DkG, RC battery and system architecture meeting
    • meeting with DG re lifefix.
    • create lifefix static_test program

notes

tue dec 15

  • 10am - 10pm - 1hr
    • emails re LTF status
    • static_test.py development
    • email GG re swifi plotting, and how to change data
    • discussion with RC re GG software project
    • at IW, assist GG with PP hold software
    • discuss w/RC bio results and compare with robot.
    • work with DG on LTF experiment
    • continue static test development, logging of data, start (multi hour) run.

wed dec 16

  • 11a - 1:30p
    • review LTF data, write view program for DG, send email summary.
  • 2:30p - 7pm (-20)
    • send CA info on order Wiport, setup BT wiki page.
    • discuss w/GG operation of robot 'sensors.c'
    • discuss w/ED status of move_ecat
    • improve charge amp class to do automatic tx read
    • various emails.
    • change static_test to zero charge amp only at the start, and call move_ecat only once per position change
    • re-run static_test with better force measurement
  • 30 mins
    • review INC-MILE data, document the encoder difference
    • review LFT static test status

notes


thur dec 17

  • 9am - 11:15 pm -1 -30
    • LTF analysis, documenting in wiki
    • assistance w/GG HH re spld tuning
    • assist with writing code for spld
    • discuss LTF w/DG
    • perform LTF sine sweep and analysis.

fri dec 18

  • 1 hr boost converter - review schematic, email

sat dec 19

  • 2 hrs - LTF analysis
  • 2p-9:30p - 30 : OOO
    • verify processing of spi Rx message

sun dec 20

  • 6 hrs : OOO
    • develope use of X-macros
    • code to get/set parameters
    • discuss with HH code dev plan

mon dec 21

  • 1 hr - OOO : code to get/set parameters, document same
  • 12:30-10:55p
    • discuss with GG status
    • discuss w/HH algorithm plan tork = k*(th-thQ) where thQ = -beta*theta_H^2
    • implement algorithm and test on HH (controller_ppf)
    • discuss new algorithm and implement new algorithm which is successful
    • recode screen to make easy for tuning.
    • review LTF science, and encoder code.


tue dec 22

  • 3 hrs
    • email CA status of LD2
    • discuss w/HH detailed operation of TC controller.
    • document / describe tail spring controller

wed dec 23

  • 2 hrs - LTF data, analysis, create plots
  • 45 min discuss w/RC and DG re LTF status and Tuesday study lockup causes, changes.

thur dec 24

  • 2 hrs
    • LTF analysis
    • phone ED network router problem
  • 5pm - 10pm
    • experiments with LTF - looking for cause of torque ripple
    • torque ripple appears to be related to mode2 - as
    • changed tk_mot.InitUserParms to take an encoder resolution parameter.

fri dec 25

  • 2 hr
    • LTF MC code development - explored memory usage issues
    • scaled white noise table, created in C
  • 12:15p-5pm
    • tested LTF FLASH thrust table
    • code to adjust encoder resolution to arbitrary value
    • with encoder resolution off by one, verified that motion stops after ~250 rotations
  • 1 hr
    • create a JR3 log program separate from the supporting class.
    • review encoder data and parameter synchronization
    • test stimulation new functions

sat dec 26

  • 12:30p-3:50pm
    • ran the LTF dynamic experiments, converted data, documented on wiki, and email DG
  • 30m admin


sun dec 27

  • 30 review and purchase replacement monitor
  • 3:55-5:30pm
    • analysis of white noise and sine sweeps.
    • admin
  • meet w/RC 4legals - discuss MILE enc, eddy current sensor, LTF results.
  • 1.5 hrs - OOO - complete coding of "process_parameters". thinking better to have a single param list and use const static size field.

mon dec 28

  • 2.5 hrs
    • many emails re LTF
    • review LTF data
    • create new MC firmware with new white noise stimulus table.
    • 30 mins phone DG discuss LTF
    • 1.5 hrs phone w/DG discuss LTF, bring up new firmware and run white noise test
    • 30 mins LTF complete tests and data conversion

tue dec 29

  • 30 mins - assist CA and GG with present version of firmware, and documentation for PCB layout.
  • 3pm - 8:30p
    • discuss with DG LTF white noise results
    • discuss w/GG Rev300 software merge
    • show CA and GG how to reprogram a Wiport

wed dec 30

  • 30m emails DG and GG
  • 3pm-9:15p
    • assist GG and CA w/SIFI firmware
    • locate cause of RPM and qIq issues on MC firmware, caused by scaling error with MILE
    • update LTF with new MC firmware and test.

thur dec 31

  • admin - review work from late nov
    • 30 mins
  • EMG development.
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