Revision as of 14:00, 10 November 2010

• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T
• garden12 ; emg_2009 ; Enc_2010 ; AKENC ; Kknee1 ; Br46_v1 gps1 ; lifefix ; battery ; loadwasher ; elecdog ; Brushless_control ; ceb_misc_prj ; pf_top_nav ; T

mon nov 1

• 1 hr
  • layout ENC3e and programmer boards. Order pins.
• 11a - 8p
  • BB first day.
  • test firmware re energy usage calcs
  • discuss battery board w/CW
  • discuss BS encoder w/DG
  • layout BS and encoders.

tue nov 2

• 1hr
• 1:15p -7:45pm -1hr
  • at 222
• 2hr : meet w/RC at legals to discuss roal at IW

wed nov 3

• 30 mins
  • improve sensor programmer board mounting holes.
• 0.5 + 2:30p - 9:15p
  • discuss project status w/AB
  • discuss IW role w/RC
  • meet w/BB
  • submitted IW10g

thur nov 4

• 1.5hr
  • PCB design / layout, spi2asc1 improvements.
• 1:30p - 8pm
  • python intro to ZH, uses trajectory mode.
  • discuss project status w/BB
  • submitted IW10h to SPE

fri nov 5

• 10:30a-1:15p
  • outline of memory map communications protocol.
• 3p - 5:30p
  • discuss dashboard project w/ZH
  • design review w/JS

sat nov 6

• 12:30-8:0p
  • interview Jeff
  • interview Evelyn
  • discuss inteviews
  • discuss punchlist and projects w/GG & RC
  • partial assembly batrcp2
  • investigate #8 encoder

sun nov 7

• 2 hrs
  • relocate directories for SVN
  • develop design doc for calibration tables
• 4pm - 8:15p
  • cut PCBs for battery, partial assembly
  • develop BOMs for battery boards. Complete digikey order.
  • develop design doc for calibration tables

mon nov 8

• 9am - 10:05a
  • meeting w/RC and GG on encoder; 2nd w/RC, GG, DG, DG, K re testing and manuf
• 11:25a - 10:15p
  • contact OB re BillP
  • discuss testing project w/BB
  • discussion w/CW, KK, and GG re requirements
  • finalize digikey order, locate new fuse holders
  • develop batrcp2_iw10g documentation
  • located 5 additional AKENC3d
  • worked w/AB and GG to debug PDA connection app.

tue nov 9

• TODO : prepare AKENC3e documentation
• TODO : meet w/AB re calb tables and JM+AP re PDA
• 1:35hr - Oct admin plus emails
• 11:45 - 9:15p
  • tested robot joint ankle encoder - found that it contained the large magnet structure
  • met w/AB re calb_tables
  • met w/JM and AB re PDA
  • teaching AB on acuousic mode
  • assisted with acoustic measurements

acoustic mode

Acoustic mode is a control mode that assisting with the acoustic study on the robot. The basic behavior is to move the robot back/forth with the motor controller voltage mode between two position limits and a adjustable constant speed. The limits are based on the motor encoder. After the motor position passes though a limit, the qVq (motor command voltage) sign is switched, but the actual applied qVq (applied motor voltage) passes though a double exponential filter to avoid jerk. If the motor is stalled, the motor current will increase significantly when operating in voltage mode. Thus extreme care needs to be exercised to avoid impacting the hardstops when qVq is larger than ~2000.

To include acoustic mode ability in the robot, the compile time flag BUILD_WITH_ACOUSTIC needs to be included. In general, for safety, released firmware could should not have it enabled.

The acoustic mode control screen is select with the key '5'. The follow additional key bindings are operational:

• E enable / disable acoustic mode
• qw move low and high limits together (q -> move forward)
• az increase / decrease max/min range of motion (s -> large amplitude)
• sx increase / decrease qVq
  • Vmotor = qVq/32768 * supply voltage; when stalled, Imotor (amps) is approximately 4 * Vmotor!!!!
• gb increase / decrease anti-jerk tau
  • keep parameter < 1.0. Jerk increases as the parameters approach 1.0.
• hn increase / decrease timeout for automatic sign reversal
  • units are 'tics' (2mS). A value of 250 is good.

wed nov 10

• TODO : PCBs and Dig order will arrive
• 30 mins document acoustic mode
• 9am -