Revision as of 23:20, 15 March 2010

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

todo

• get to the bottom of the encoder drift (run bench test)
• program to verify LTF operation (automated)
• teach CA to run the benchtest.
• fabricate more SWIFI PCBs
• fix wifi_fast text log file precision
• wifi fast to get precision from the vlist file.
• wifi_fast to have a "duration" that causes it to stop periodically.
• LTF2 experiment using JR3
  • write C code for same
• close loop control of output torque
• code to push SVN between servers.
• get DD-WRT VPN operational (solves subnet problem)
• improve the python paths.

RIC todo

• update SWIFI firmware on S4.
• email calb data to RIC
• UDP messages to control WIFI fast.

lab todo

• code to push SVN changes from trunk into each users space.

MAR 2010

mon mar 1

• 30 mins emails re firmware and config w/GG, multiple LTF plan w/GG
• admin for severl hrs.
• 3:45pm - 6:45p
• discuss w/DG LTF2, and moving to back.
• work w/CA to get LTF2 back on network
• discuss new network architecture for swifis (lab net) and BSt. w/ED
• email w/GG re building

• 1.5 hrs.
• drive to microcenter.
• experment with new accesspoint
• setup dd-wrt

tue mar 2

2:30pm - 6:50p

• continue access point config
• setup PC at bineny
• setup LTF, get views working
• discuss network and AP w/ED

8pm-9:40pm

• investigate LTF network issue
• setup VPN at Binney

wed mar 3

• 11a - 6:10p
  • work with LTF1 and DG to determine cause of excessive temperature rise
  • cause traced to apparent encoder drift.

thur mar 4

• 8.45a - 11:40a
  • experiments with LTF1 to confirm encoder drift.
  • modify plot_ltf to support viewing of new experiment data.
  • email DG re LTF1 status and plan
• 4:50p - 9:10p, -25m
  • reviewed status of WIP4d for submission
  • discuss w/GG MIT ankle requirements.
  • work w/DG to diagnose LTF1 motor encoder failure
  • improve plot_ltf

fri mar 5

• 8:30a - 1pm (-30m)
  • restart LTF1, study the cause of the stoppage, investigate RLFv2 for untrapped errors and fix.
  • coordination with DG re LTF
  • update RC w/status of LTF and next week.
  • email to RC, HH re situation

mon mar 8

• 1:45p-2:50p
  • prepare AP DD-WRT for lab, test w/S5
• 6p-7p
  • discuss robot status with GG
  • test pser2h-b, find component not installed, CA installs and SN #1-3 tested successfully, to be delivered to MIT.
• 9:15p-10:40p
  • phone ED re issues with LTF1
  • update ip devices wiki w/ Binney network info.
  • test communications with S3 and L5
  • debug LTF1, assign network device address, get vncserver working.
  • go to Binney to looking to problems with LTF1, insert JR3 cable, still no comedi device

tue mar 9

• 8am-
• review GG robot torque / beta code
• bring up LTF1, problems with running hot and lack of thrust

• -3:20p

wed mar 10

• 9a-2:00p -30min
  • review LTF1 (for past 24 hrs), save plots for encoder drift. need to investigate this encoder.
  • add ability for udp_matlab to sent to multiple IPs. Add support for same to wifi_fast.py
  • get JR3 working with RLFv2, still crashes and times out. Add log file capability
  • discuss LTF2 status with DG
  • dealing with IMU connector orientation. Rev200 has a BOM ECO (undocumented) - now using RA header.
• 1 hr
  • experiments with DD-WRT to support VPN into the router.

thur mar 11

• 7:50a - 2:30p (-30 min) (-30min)
  • improve wifi_fast plotter to always read the full UDP buffer, then uses variable plotter frame rate.
  • test with plot_lifefix
  • temporary fix to wifi_fast fancy_list_output
  • re-arrange python support scripts, improve python_paths registry, start merge of LTF and PC SVN dirs.
• 30 mins :
  • review LTF and restart
  • review issues with signals, try to determine cause

fri mar 12

• 8:30a-12p
  • mcmaster order for damping foam and tools
  • review LTF and debug signals.
  • SVN distro
• 12:30p-1:50p
  • try to get LTF2 operational

sat mar 13

• • LTF1 not running, research the cause. need to decode data files
  • hall sensor study, find 0.5 rad/sec of effect from motor magnets
  • email to RC on how we need to proceed.
  • rewrite hall sensor code to make calb table ready

sun mar 14

• 8:30p - 10:30p +30.
  • commit and document SVN changes.
  • experiment with hall sensor used in feed back loop.

mon mar 15

• 11:45a-1:55p
  • email RC re hall sensor
  • review IMU changes from Rev100-Rev200, respond to MR email on same and ECOs.
  • write test code for torque estimation, email to ZH and GG
• 4p-7:15p
  • robot joint torque code development
  • experiments with RTW compilation
  • verify LTF1 operation, encoder is connected to wrong port, started LTf1, discuss status w/DG