Hours 1003

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

todo

• fix IMU ADCs. Need to sync, implement IIR filter or at least sync the average w/ the 2010 request. need to return the time of the sample.
• make a renishaw PCA with XLP (ASAP)
• 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
  • 9 phone calls from 3:20p - 8:20p

---

• 1.5 hrs.
  • drive to microcenter.
  • experiment with new access point
  • setup dd-wrt

tue mar 2

• 2:30pm - 6:50p
• continue access point config

setup PC at bimneny

• setup LTF, get views working
• discuss network and AP w/ED

• 14 phone calls w/IW from 1:17-6:40p, 9:45-10:30p

8pm-9:40pm

• investigate LTF network issue
• setup VPN at Binney

wed mar 3

• 10:50a - 6:10p
  • 6 IW calls
  • 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

• worked most of the day.
  • 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
• 9p-10:15p
  • debug,verify operation of torque sensor

tue mar 16

• 10:50a- 1:50p
  • review LTF1 operational status
  • investigate garbage output associated with "ACO" debug, was printf %d again
  • change S3 build to be -Os
• 3:30p-8:30p
  • discuss torque and hall calibration with RC, then IMU with RC and ZB
  • discuss w/ED python wrapper for copley and methods of capturing PDOs
  • assist ZH to re-install python to get numpy to work on laptom for IMU collection
  • Q&D test with renishaw encoder and EC30 - there is interference, discuss with CW
  • meet with RC to discuss uses of renishaw, how to get velocity. Reviewed how to use the spare port on the SC/MC. There are 2 (SC / MC) analog inputs that could be repurposed as digital IOs. There is also a MC digital IO

• • review IMU source code, discuss with ZH and RC
  • discuss wire and having cables made with CA
  • work to bring up LTF2 - source code needs to be organized
• 9:30p - 10:45p
  • re-work source code on LTF. not sure why JR3 cant be open when using source files on PC

wed mar 17

• 9:00a-2:10pm -1.15hr
  • review LTF1, diagnose cause of failure, email DG
  • setup new XP box, LTF viewer PC
  • work to resolve wifi_fast issues.
  • DG fixes LTF1, I restart and still doesn't work.
  • review MC source for how to write data structures w/mem write.

• new firmware - 2 hrs - verified message routing by unit ID
• installed DD WRT on 54GL - VPN now works.

thur mar 18

• 30 mins - phone calls from GG re SM rebuild of SWIFI
• 40 mins discuss torque calibration w/MikeE, delivery of testjig, and control methods.
• new firmware - 4.5 hrs - generate DMA based message transmission firmware
• new firmware - 2 hrs - verify operation of transmission control object.

fri mar 19

• review LTF1 status
• 3 hr - new firmware development, SPI interface development

sat mar 20

• review LTF1 status

sun mar 21

• review LTF1 status

mon mar 22

• review LTF1 status
• 1:10 w/RC discuss pyramid and hall calibration, S3 status, and renasha

tue mar 23

• 15 mins - discuss LTF with DG
• 20 mins - discuss Copley wrapper w/ED
• 20 mins - discuss LTF logon / control training w/ED
• 15 mins - deal with S4 SWIFI firmware bug.
• 30 mins - discuss LTF access wi DG/ED
• 1:20 - meet w/ED and DG to discuss LTF and how to setup
• 15 min - set up XP box, pick up S3

wed mar 24

• 50 mins - deal with LTF1 problem. send email on same.

thur mar 25

• NA

fri mar 26

• 10:15a - 1:30p
  • review calibration data for S3, S5. emails to ZH and RC
  • create wiki page for Pser2h_revb
  • email CA, RC re SWIFI,encoder issue.

• 4:20p - 9:35p
  • discuss calibration poly with ZH
  • fix issues with python / benchtest
  • discuss SWIFI w/GG
  • experiment with renishaw encoder.

sat mar 27

• 1.5 hrs - Renishaw PCB design

sun mar 28

• 1 hr Renishaw PCB design
• 1pm - 7:20p
  • relocate LTF viewer PC to robot room
  • plot LTF improvements
  • investigate LTF2 status, repair encoder, verify operation
  • setup calbstand to be able to reprogram LTF2
  • MC firmware mods to more cleanly use the JR3 over serial
  • testing of program that sends JR3 as q15.

• 7:55p - 10p at lab

mon mar 29

• renishaw PCB design

tue mar 30

• renishaw PCB design
• 15 min IW phone
• dinner w/RC

wed mar 31

• 10min w/RC
• 15min w/IW