Hours 1008

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T

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.