Difference between revisions of "Hours 1008"

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{{ceb_private}}
 
{{ceb_private}}
 +
 +
=sun aug 1=
 +
*10:30a - 12:15
 +
**implement re-scalable tau trajectory.
 +
*12:30-8:45
 +
**test LV
 +
**test trajectory w/rescaled tau
 +
**implement temp measurement following trahectorey
 +
 +
=mon aug 2=
 +
*10:15a - 9:30p -20
 +
**discuss new network router w/ED
 +
**experments w/calb stop - how to locate hardstop and its effect on torqie
 +
**calb, test, ship 3 robots to TX.
 +
 +
  
 
=tue aug 3=
 
=tue aug 3=
Line 92: Line 108:
 
**calbstop #1
 
**calbstop #1
 
**smooth relaxed mode exit.
 
**smooth relaxed mode exit.
 +
 
*3p-9pm
 
*3p-9pm
 
**improve relaxed mode firmware.  
 
**improve relaxed mode firmware.  
Line 97: Line 114:
 
**document key binds.
 
**document key binds.
 
**review spring stiffness calb.
 
**review spring stiffness calb.
 +
**begin analysis of pitch velocity vs speed
 +
 +
=sat aug 14 =
 +
*2pm - 9pm
 +
**code PV vs speed
 +
 +
=sun aug 15 =
 +
* ???? - 9:15p - 45
 +
**improve Pff vs speed alg, testing w/HH
 +
 +
=mon aug 16=
 +
* 1pm - 9:30p -30
 +
**improve Pff vs speed alg
 +
**long discussion of RLS issues
 +
**subject tuning
 +
 +
=tue aug 17=
 +
* 8:50a - 1:25p -15
 +
** improve wifilog file name processing
 +
** firmware development RLS sensor mitigation, notification and latching in SC
 +
 +
* 2:30p -  9:45p  -15
 +
**assist w/TB tuning
 +
**update robo_config
 +
**discuss w/ZH ideas for simplified PV adaptation
 +
 +
=wed aug 18=
 +
*4:15-9:30
 +
**assist GG w/WB tuning
 +
**firmware development - SW Tstrike alg w/ZH
 +
**HH firmware upgrade and tuning.  Low pff experiments.
 +
 +
=thur aug 19=
 +
*1pm - 10:30p
 +
**tuning w/HH- discover issues with #5, needed to be rebuilt; and calb stopped.
 +
**assist with debug of new robots and tuning
 +
**investigate TS algorithm w/matlab; implement in C
 +
**investigate LSP state and torque drop at other FS.  Can it be detected?
 +
**how about the loadcell sensor - can we use it?
 +
**investigate new state 6 in/out with PV
 +
 +
=fri aug 20=
 +
*9:20a - 9:10p -1.5
 +
**refactor firmware; test on HH
 +
**start development of simulator
 +
 +
=sat aug 21=
 +
* 12:30p - 9:10 -1.hr
 +
**tune HH w/sz 25 for shipmet to tx.
 +
**discuss simpler TS Asc SM
 +
**work on simulator; seems to be working
 +
 +
=sun aug 22=
 +
*meet w/JngW - discuss EMG
 +
*EM 2motorK dev
 +
*3 hrs
 +
**develop matlab functions to parse text strings/
 +
**prepare HH for trip
 +
**wire charger supply
 +
 +
=mon aug 23=
 +
*3:50p - 10:00p
 +
**study PV state 6 bug fix.
 +
**assist GG w/tuning and debug
 +
**hardware dev; SPI 2 serial for P32 ctrl of new K
 +
 +
=tue aug 24=
 +
* 2pm - 12:10a
 +
**discuss w/JS new lean firmware for communications.
 +
**firmware development - rescale Pff curve based on entry torque, testing w/HH
 +
 +
=wed aug 25=
 +
*2pm - 8pm -0.5hr
 +
** diag #8; very unique theta-beta curve.  experiments on effect of PCB position on curve; none to shape except for true north position.
 +
** work w/GG tuning
 +
** assist GG w/boot issues at CF
 +
** firmware development; new infrastructure
 +
 +
=thur aug 26=
 +
*11:30a-6pm -30
 +
**firmware development; new code to send messages
 +
**discuss project status w/GG
 +
**email re-ACW
 +
**discuss TV w/ED
 +
**discussion project status w/RC
 +
 +
 +
=fri aug 27=
 +
*3pm - 7:15p
 +
-firmware development
 +
-assist w/tuning and diagnostics
 +
 +
=sat aug 28=
 +
*4.5 hrs - firmware development
 +
 +
=sun aug 29=
 +
*2 hrs; firmware development
 +
 +
=mon aug 30=
 +
*2:30 p - 11:30 p -1.5
 +
**discussion project status w/RC
 +
**repulsion force calculator :  http://www.kjmagnetics.com/calculator.repel.asp?calcType=ring
 +
**arrange office
 +
**work w/ZH on stairs; develop new means of detection
 +
==notes==
 +
*http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication
 +
*http://svnbook.red-bean.com/en/1.5/svn.reposadmin.maint.html#svn.reposadmin.maint.replication.pre-revprop-change
 +
*http://devlicio.us/blogs/christopher_bennage/archive/2009/03/11/mirroring-subversion-from-windows.aspx
 +
*http://svk.bestpractical.com/view/UsingSVKAsARepositoryMirroringSystem
 +
*http://svnbook.red-bean.com/en/1.4/svn.ref.svnsync.html
 +
*http://strawberryperl.com/releases.html
 +
*http://svnbook.red-bean.com/en/1.1/ch05s03.html#svn-ch-5-sect-3.5
 +
*http://ptspts.blogspot.com/2009/06/how-to-migrate-or-merge-cvs-or-svn.html
 +
 +
 +
=tue aug 31=
 +
*10:15am - 10:40p -1hr
 +
**develop matlab code to each data file conversion
 +
**review datasets for means of detecting TS
 +
**write TS detect simulation code in matlab
 +
**code in C for robot
 +
**update simulator to run firmware
 +
**test on subject HH

Latest revision as of 16:09, 4 September 2010

sun aug 1

  • 10:30a - 12:15
    • implement re-scalable tau trajectory.
  • 12:30-8:45
    • test LV
    • test trajectory w/rescaled tau
    • implement temp measurement following trahectorey

mon aug 2

  • 10:15a - 9:30p -20
    • discuss new network router w/ED
    • experments w/calb stop - how to locate hardstop and its effect on torqie
    • calb, test, ship 3 robots to TX.


tue aug 3

  • 11:10a - 5p -15
    • implement adjustable parameters for hardstop and beta angles
    • discuss project status w/RC and HH
    • implement new (untested) relaxed mode.
    • discuss project status w/HH and relax mode
  • 8:50p-10:30p
    • review PCBs for fabrication


wed aug 4

  • 9:00a - 11:30 -30
    • discuss relaxed mode w/GG
    • review IMU code in SM, begin use of IMU for swing detection
    • review PCBs for fabrication
  • 12:15p - 11:40p
    • review code changes w/GG
    • attempt to solve problem #7, #11
    • tuning w/subject J
    • review data for #7, #11.

todo

  • need to verify what PSER1s we have and what if any ECOs
  • have 12 PSER1eb (010310)
  • have 3 PSER1e2 (021609)


thur aug 5

  • 10a-12:40p
    • discuss project status w/RC, HH
    • implement new relaxed mode
  • 1:10p-8:30p
    • test new relaxed mode
    • explain tuning new tuning parameters.
    • capture torque verify data from #11 in TX,
  • 9:45p-11:40p
    • work w/GG on code updates in TX, create release 3a

fri aug 6

  • 1pm - 1:40p
  • 3:30p - 9:15p
    • investigate issue w/calb_stop traced to magnet rotation;
    • calbed several robots;
    • investigate st 4-5 glitch.
    • tested firmware on subject; created tag; shipped

sat aug 7

  • 11:15a - 6:15p
    • stop by Binney - get items; then better set up my office.
    • work w/HH
    • investigate ES->LS glitch

sun aug 8

  • 3pm - 10:15
    • work w/HH, fixed ES->LS glitch
    • prepare H2-04, H2-21 run calb stop and torque verify.

mon aug 9

  • 11a - 7:15p -1 hr
  • assist GG w/ tune issue on 12. motor temp wildly varies; needed to adjust k3bias.

tue aug 10

  • 9:30a - 10:30p - 1 hr
    • tested H2-12, verified motor turn error in back driven.
    • shipped H2-14
    • new relaxed mode w/pitch vel

wed aug 11

  • 9:45a - 12:45p
    • sketch clustering algorithm
    • class-afty the torque_verify for integration in ED back drive stepper
  • 1:10p-11:30p -1.5 hr
    • firmware dev, screen to set parameters by weight. relaxed hardstop exit, make relaxed torques and pitch vel adjustable.
    • explain torque verify to ED.
    • firmware review w/GG
    • HH takes 5prelease 2 home.

thur aug 12

  • 9:45a - 9:30p -30
    • discuss ES-LS current glitch and solution. code firmware to perform experiment requested by RC
    • recode demux SM to retry if there is excessive torque at boot
    • calbstop #4, #5
    • discuss SM bug w/GG

fri aug 13

  • 10:10a - 1:30p
    • calbstop #1
    • smooth relaxed mode exit.
  • 3p-9pm
    • improve relaxed mode firmware.
    • assist GG w/turning subjects
    • document key binds.
    • review spring stiffness calb.
    • begin analysis of pitch velocity vs speed

sat aug 14

  • 2pm - 9pm
    • code PV vs speed

sun aug 15

  •  ???? - 9:15p - 45
    • improve Pff vs speed alg, testing w/HH

mon aug 16

  • 1pm - 9:30p -30
    • improve Pff vs speed alg
    • long discussion of RLS issues
    • subject tuning

tue aug 17

  • 8:50a - 1:25p -15
    • improve wifilog file name processing
    • firmware development RLS sensor mitigation, notification and latching in SC
  • 2:30p - 9:45p -15
    • assist w/TB tuning
    • update robo_config
    • discuss w/ZH ideas for simplified PV adaptation

wed aug 18

  • 4:15-9:30
    • assist GG w/WB tuning
    • firmware development - SW Tstrike alg w/ZH
    • HH firmware upgrade and tuning. Low pff experiments.

thur aug 19

  • 1pm - 10:30p
    • tuning w/HH- discover issues with #5, needed to be rebuilt; and calb stopped.
    • assist with debug of new robots and tuning
    • investigate TS algorithm w/matlab; implement in C
    • investigate LSP state and torque drop at other FS. Can it be detected?
    • how about the loadcell sensor - can we use it?
    • investigate new state 6 in/out with PV

fri aug 20

  • 9:20a - 9:10p -1.5
    • refactor firmware; test on HH
    • start development of simulator

sat aug 21

  • 12:30p - 9:10 -1.hr
    • tune HH w/sz 25 for shipmet to tx.
    • discuss simpler TS Asc SM
    • work on simulator; seems to be working

sun aug 22

  • meet w/JngW - discuss EMG
  • EM 2motorK dev
  • 3 hrs
    • develop matlab functions to parse text strings/
    • prepare HH for trip
    • wire charger supply

mon aug 23

  • 3:50p - 10:00p
    • study PV state 6 bug fix.
    • assist GG w/tuning and debug
    • hardware dev; SPI 2 serial for P32 ctrl of new K

tue aug 24

  • 2pm - 12:10a
    • discuss w/JS new lean firmware for communications.
    • firmware development - rescale Pff curve based on entry torque, testing w/HH

wed aug 25

  • 2pm - 8pm -0.5hr
    • diag #8; very unique theta-beta curve. experiments on effect of PCB position on curve; none to shape except for true north position.
    • work w/GG tuning
    • assist GG w/boot issues at CF
    • firmware development; new infrastructure

thur aug 26

  • 11:30a-6pm -30
    • firmware development; new code to send messages
    • discuss project status w/GG
    • email re-ACW
    • discuss TV w/ED
    • discussion project status w/RC


fri aug 27

  • 3pm - 7:15p

-firmware development -assist w/tuning and diagnostics

sat aug 28

  • 4.5 hrs - firmware development

sun aug 29

  • 2 hrs; firmware development

mon aug 30

notes


tue aug 31

  • 10:15am - 10:40p -1hr
    • develop matlab code to each data file conversion
    • review datasets for means of detecting TS
    • write TS detect simulation code in matlab
    • code in C for robot
    • update simulator to run firmware
    • test on subject HH
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