Revision as of 17:57, 19 January 2010

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

Jan 2010

todo

Mon Jan 4

• 9:30a - 3:10p -30
  • prepare PSER1eb and PSER2hb
  • layout inverter oscillator and complete two eddy current sensors PCBs
  • panel and submit PCBs for fabrication

• 4pm - 7:30p -45
  • discuss w/DG LTF status
  • resubmit PCBs after project rejected.
  • biquad filter research and implementation
  • discuss w/RC LTF status (41 hz) and V2 status

todo

• LTF data analysis
• get V2 going

tue jan 5

• 10:30a-3pm -1:40
  • biquad filter tested on linux, added support commands under tkcmdset
  • converted LTF data from Dec30

• 3:30p - 9:40pm
  • work with GG and CA on IMU programing, hardware diagnosis
  • review LTF data with DG, experiment with LTF

wed jan 6

• 8am - 11:40a +60min
  • review robo_config for ability to load/save tables
  • develop test procedure for ED / GG to load / save EEPROM tables on Spld.
  • discuss w/DG how to proceed w/LTF experiments and XP software requirements.
  • complete integration of biquad.c into MC firmware, add prototypes to result in cleaner MC compile
  • located tool to design biquad filter coeffs, designed 200 & 300 hz Bstop filters.
• 3pm - 11:25pm -30 +30
  • run LTF w/DG
  • tested biquad filter
  • update LTF SC/MC
  • ran sine sweeps and white noise.
  • converted data emailed to DG

thur jan 7

• 15+20+20+1hr
  • discuses w/RC robot problem and patent
  • phone w/DG re LTF results
  • phone w/GG re LTF an robot results
  • read patent proposal

fri jan 8

• 1 hr
  • working with DG on LTF

sat jan 9

sun jan 10

• 2pm - 8:45p -30
  • meet w/RC @CKF - discuss robot testing, holster, block diag, belt detector

• • review SERDES
  • discuss SERDES ideas w/MM - decide on FPGA w/1 TX, RX, CLK
  • review of patent
  • consider alternatives to connecting to SC/MC. Possibly HS USB?

mon jan11

• 4-9pm
  • discuss robot arm control w/ZH and GG w/python
  • discuss w/GG java UDP for plot_lifefix
  • work w/DG on LTF. Run white noise tess, followed by a large series of sine sweeps.

tue jan 12

• 1.5 hrs - reading patent
• 3-8:30p
  • sign patent papers
  • review matlab UDP java tool
  • wire up new LTF power supply.
  • work with DG on LTF freq response, and biquad filter.

wed jan 13

• 1 hr
  • investigate methods of multiplexing ISP for debug deep in the robot.
  • 3 methods:
    • develop our own programmer that MPLAB can use (or copy one)
    • implment the ISP statemachine in the FPGA so it can determiante directionalty
    • use an analog swtich to multiple the PGD signal - so we don't have to understand the protocol, use SER-DES for the remaining signals.

• 4pm-5:30p
  • cut pcb pannel
  • assemble eddy current sensor PCB and test.
  • ???

• 6:15pm - 10:15pm
  • work with DG on LTF.
    • verify freq rsp of pole zeros with fvtool
    • calculate new pole zeros
    • test biquad on LTF
    • start run_lifefix_v2, issues with KCA.

thur jan 14

• 2:35 - 10:20p
  • digikey order for RJ45 magnetics and other items
  • assist ZH with real-time work loop plotting
  • bring up LTF, try to understand commutation problem
  • LTF PID tuning
  • LTF work loop studies.

fri jan 15

• 2.5 hrs
  • complete excell entry for Dec and to present time for Jan
  • email summary of the cause/solution to the matlab plotting problem
  • email summary of LTF ground loop problems - and a suggested change.
  • documentation for Pser2hb, pser1eb
  • assist w/running of LTF - find the motor isn't moving, likly over heated.

• 3:30p-11:20p
  • assist CA w/ankle rebuild and programming of SWIFI, Wiport, SC, and MC
  • restart LTF
  • investigate the error in the resistance measurement, find that qId depends in non-linear way on qVd

sat jan 16

• 10a-12p
  • review LTF, code real-time temperature plotting
• 1:10p-9:40p -15
  • review GG code merge, program on V2.
  • improvements to matlab plotter, reads a user config file for plot titles / scale, experment with alternative UDP libraries
  • testing MC on rev300 hardware.
  • re-write and test acoustic mods to statecontroller

sun jan 17

• 3:15p - 11pm
  • investigate the cause of the LTF stopping, appears to be Pser2h non-isolation, fixed.
  • studied the effect of motor rotation on apparent resistance (added tested to benchtest.py)
  • looked for relationship between ADC sampling position and measured current (non found)
  • compared DC type resistance measurement with AC measurement method. Found good agreement.
  • fixed bug in RLFv2 where text output was incorrectly scaled.
  • (start) modify RLFv2 to output data computer readable format.

mon jan 18

• monitor LTF overnight
• 2 hrs
  • discuss status w/DG on LTF status, count number of cycles
  • improve RLFv2 to encode exit error for retry*
• 4pm-11:30p
  • assist GG w/statemachine bug (400mS in PP)
  • continue testing development of RTLFv2
  • successful test LTF w/48V supply
  • w ED/investigate PSER2h baudrate problem, make kernel modules changes. After, there are still an issue setting the baudrate - however multiple settings seem to take effect
  • investigate methods of testing motor automatically with benchtest
  • investigate possibility of using the JR3 for motor force control
  • start process of converting SWIFI data from LTF weekend run

tue jan 19

• 2 hrs
  • create LTF parts list [1]
  • convert SWIFI LTF weekend data.

notes

• 24V supply for battery charger