Hours 1007
From DIDEAS Wiki
Contents
- 1 wed jun 30
- 2 thur jul 1
- 3 fri jun 2
- 4 sat jul 3
- 5 tue jul 6
- 6 wed jul 7
- 7 thur jul 8
- 8 fri jul 9
- 9 sat jul 10
- 10 sun jul 11
- 11 mon jul 12
- 12 tue jul 13
- 13 wed jul 14
- 14 thr jul 15
- 15 fri jul 16
- 16 sat jul 17
- 17 sun jul 18
- 18 mon jul 19
- 19 tue jul 20
- 20 wed jul 21
- 21 thur jul 22
- 22 fri jul 23
- 23 sat jul 24
- 24 sun jul 25
- 25 mon jul 26
- 26 tue jul 27
- 27 wed jul 28
- 28 thur jul 29
- 29 fri jul 30
- 30 sat jul 31
- 31 sun aug 1
wed jun 30
- 7:15a-
- worked all day.
- work on invoice until ~1pm
- testing of instant on, investigate FLASH memory.
- dinner w/RC @leg
- at MIT 5pm
thur jul 1
- worked all morning
- investigate use of flash memory for calb tables
- forums re getting assistance
- 7p -
- meet w/RC to discuss project status
fri jun 2
- 9a - 1p
- invesitate read/write flash, issues with linker, issues with realice.
- power on SM development
- investiage code merge
- 4:30p - 9:30p
- at IW
- code merge and testing of same
- create special command hooks for JS firmware
- investigate / work around issue with power off SM forcing demux SM state.
sat jul 3
- 1hr -
- project documentation, sync w/GG JS on merge status.
- 2 hrs
- complete assembly and test AKENC3m
- 2.5
- email DS re calb stop
- power on SG simulation in matlab
- experiment w/write flash
tue jul 6
- 10:25a - 10p (
- discuss project priorities w/RC
- integrating FF instant on, 2930, 2936, 2937
wed jul 7
- 5:15a-6:35
- improve calb stop to make use of true north.
- trajectory simulation
- 12:30p - 7:55p
- assist DG w/LTF - commutation issue
- discuss battery options w/CA and Mk
- assist GG w/osc caused by FF and ISLIP interaction, need ability to read MILE and to set commref.
- MILE doesn't seem to read w/cmd 1106
- will need a commutation MC state - for LTF etc
- start implementation of traj onto MC
- re-implemented cmd 1480 - for readback of MILE.
- 1 hr - at home
thur jul 8
- 9:50a-1:20p
- work to make instant on MC backward compatible w/LTF
- CMD 1480 to read SSI sensors, modify bench test and support to make use of
- calb_stop has analog sensor offset output
- would like to integrate into some of the other tests
- TODO - calb_stop for HALT
- work to make instant on MC backward compatible w/LTF
- 2:15p- 9pm
- discuss w/RC boost prj
- merge SS into trunk
- LTF2 has SC 2745, MC 2718; will update w/latest.
- interview AB
fri jul 9
- 9a - 1p
- 3p-9:30
- work at IW
- calb stop improvements, w/GG to integrate into procedure.
- issue with H2-04
sat jul 10
- 1 hr
- trajectory simulation, moving into motor space.
- 12:30p - 8:15p
- work at IW
- discuss calb fixture w/RC, DG
- discuss global opt toolbox w/ZH, RC and ED - need to DL from mathworks. - need passwords.
- start diag development for benchtest. rework iochan_capture.py, save files for S3, H2-04
- C:\xxx\0svn\data-collection\iochan_capture
- C:\xxx\0svn\data-collection\calb_stop
- study trajectory issues with initial conditions
- mc_diag development.
sun jul 11
- 4 hrs
- install matlab
- sc - no calb - development.
mon jul 12
- 11:30a-10:15p -2 -1
- study Excell w/ZH firmware. find uses xlsread which requires COM server. Openoffice doesnt work.
- assist ED w/calb fixture dev
- trajectory ctrl development
tue jul 13
- 6:50a - 7:50a
- debug trajectory ctrl
- 10:50a -
- debug trajectory ctrl, connect to mc_statemachine state 42.
wed jul 14
thr jul 15
- 3pm - 10:30p -1hr
- discuss w/RC and GG re status
- discuss w/RC batteries
- calb stop improvement
- integrate trajectory into SW
- add longer waiting MC boot state when no calb table; SC motor commands for traject
fri jul 16
- 10:30a -
sat jul 17
-
- calb_stop improvements, change COMREF to mode4, correctly normalize theta_beta poly calc
sun jul 18
- 11:50a -
- improve read_calb_table
- work on the script
mon jul 19
- 2:00p - 5:15 -15
- investigate effect of velocity measurement on oscillation freq.
- 8:45-10:30p
- experiments / verification of setting incremental encoder via command 1490\
tue jul 20
- 4:45 hrs
- phone w/ED re dataport sel
- email re dataport w/SWIFI
- phone w/RC discuss SWIFI communication, pyramid
- analysis of AAS resolution, email on same
- discuss w/RC pyramid and torque control
wed jul 21
- 9:45a-11:25a
- admin
- MC torque calculation, modify read_calb_stop to create poly for motor_pos -> beta
- 12:30p-10:30p
- at IW
- assist ED w/read back of pyramid data on calb
- meet w/GG. meet w/HH, GG discuss torque sensor
- implement MC torque computation
- find that latest SM doesn't change the MC state. not sure of the cause.
thur jul 22
- 11:30a - 9:20p
- meet w/HH, GG, RC discuss direction
- discuss bootup procedure w/ED
- merge some of ION firmware into H2TX branch
fri jul 23
- 9:10a - 1:45p
- discussion w/RC and HH re plan
- 3p - 8:15pm
- add ION features to TX branch, and test w/HH
- assist ED requirements to boot ankle for calb.
sat jul 24
- 10:15a - 12:30p
- debug ION BS position estimation
- 1:15p - 9:15p
- IW - implement startup alg to zero BS pos
- work w/GG to understand tools
- 10:45p - 12:10a
- implement iterative method to find bs zero
sun jul 25
- 11:15a - 10p
- at iw. w/hh and rc
- add trajectory ctrl
- test hh/several
mon jul 26
- 1.25 hr
- add tuning parameters for trajectory ctrl to SC
- 12 - 10p
- a iw
- test on several subjects
- debug SM
- 10:45 - 12:30a
- experiments w/output ref traj ctrl.
tue jul 27
- 10a-1p
- experiment w/output ref traj ctrl
- 1:30p - 2:15a
- finalize firmware, fixed MC issue w/one sided imped
- test w/subject J
- calb stop and prepare #13-#21
wed jul 28
- 8:30a -6pm
- assist ML w/prep #12
- 9pm-10:30p
- review data for BS zero experiments
thur jul 29
- 9:45a- 5:30p
- update documentation, email DG and MLI re wiki
- email JS re calb tables.
fri jul 30
- 1hr
- 4pm - 9:45p
- recalibrate robots for testing w/HH and subject
- firmware development, implement low voltage cutoff
sat jul 31
- 9:00a -9:55a
- firmware development, implement low voltage cutoff
- 12:05p - 11:50p
- work w/GG on state machine bug and re factor, calb_stop and ION details,; discuss roll out of release 3
- complete and test low voltage cutoff