Revision as of 03:07, 22 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 role at 222

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 - 11am
- emails, review test design

1:30pm - 1am
- design review w/BB, GG, RC, JS
- build #8 for high-res encoder testing
- debug batrcp2v2 board (IW10G) many assembly problems

thu nov 11

30 min
- discuss assembly with MM
- setup meetings
1:30p - 10:40p -1.5h w/RC
- meet w/AB to discuss pytohn
- board assembly - assembled 3 of batrcp2 IW10h

fri nov 12

12:30 - 1:50p
- direct board assembly
- develope BATRCP2 requirements and tests
- meet w/RC on status
3:15p-8:10p
- test BATRCP2 boards
- modify BATRCP2 for 3.3V used as shutoff, later found robot didn't shut off w/LV
- investigate low shutof issue
- AC issue
- discuss w/BB ESD and ADC operation; we can probably switch to single sample reads of all ADC channels.

sat nov 13

10:15a - 11:15a
- admin
12:15p - 7:30p
- build AKENC5a
- develop 3rd encoder ECO, update Twiki
- modify MC firmware for same
- email GG, CA, DG, RC results of encoder and necessary ECOs for #17

sun nov 14

1:30p-8:45p
- attempt to resolve VPN and SMTP issues
- partial assembly BATMOD1, looking for missing PFET components
- organize components in office.
- attempt to reorder PFETs, out of stock, need to find sub (find several, some better!)
- prepare ENC3e docs for MM assembly.

mon nov 15

8:50am - 10:55a
- admin
- emails, organize work from CA, GG sync w/GG
- review RB firmware, send suggestions.
12:50p- 10:35p
- check status of ENC build
- investigate ZH drive recovery
- spoke w/KH - works Norwood, lives Fall River, is flexible 27.45*1.5
- review ZH drive data, seems to be finding 'doc' and 'jpg' signatures inside binary data files.
- review Rev300, 301 schematics
- assemble Y cable and test ENC3e
- review SC firmware for PDA. Email suggestions.
- modify MC firmware to add long setup clock pulse
- test ENC3e and ENC5a with Y cable.

tue nov 16

9:15a - 11pm -30 -1
- prepare ENC3e docs for L-tronics.
- http://www.mrg-inc.com/ jmckenna@ Jim McKenna
- discuss robot boot / kitmod issue w/RC
- PDA meeting w/JM, HH, Brian, AB, GG, TM
- discuss IMU w/JS and GG
- discuss ADC w/BB
- rebuild ENC stencil
- discuss ENC build w/RC; order 20 components sets
- add PFETs to BATMOD1 and test;

wed nov 17

7:20a - 9:30p -1hr
- start hash_database development
- python calb table dev

thur nov 18

7:35a - 10:30a
- python calb table dev
11:30a - 11:55p
- discuss HALT requirements w/DG. update python and special command docs
- discuss ECOs and rework w/CA. Email to MPD re additional 302 ECO
- discuss Android app w/AB. Will be Java. She will re-develop PFCMD code.
- assist w/#17 stiff shell, and 13 bit ENC - with no PFF, find that torque varies 120 to 155 NM from slow to fast. probably explains why not Kmode is needed.
- start mod firmware to support calb_table_2010
- experiment with BS and MILE encoder; matlab to verify.

fri nov 19

9:10a - 11:15a
- ballscrew encoder analysis
1:10p - 6:30p
- discuss w/CA operation of new encoder
- discuss w/RC project status, and 22 release plan
- discuss w/DG status of belt cover
- discuss w/GG new SVN layout.
- batmod3 circuit design (will include micropower LDO and hall sensor)
- batrcp3 routing

sat nov 20

8:50a-12p
- debug problem with SVN tree history, create new 22 trunk folders.
- testing robot calb table development
- rework shared object table, and hash table data structure.
- verified command 164
1pm - 3:15pm
- python hash table dev
6:25p - 7:05p

sun nov 21

7:40a - 9:05a (1:25)
10:20a- 11:20a (1)
- python development; working on linking robot objects to the hash_table and hash_database
12:05p - 1:35p (1:30)
6:50p- 10:05p (3:15)
- major progress sending of the header string and decoding it into dictionaries
- all the remains is reading of text files and matching the sections, items with dictionaries and using mem_write!

@@ Line 217: / Line 217: @@
 =sun nov 21=
-*7:40a - 9:05a
+*7:40a - 9:05a   (1:25)
-*10:20a- 11:20a
+*10:20a- 11:20a   (1)
 **python development; working on linking robot objects to the hash_table and hash_database
-*12:05p - 1:35p
+*12:05p - 1:35p  (1:30)
-*6:50p- 10:05p
+*6:50p- 10:05p  (3:15)
 **major progress sending of the header string and decoding it into dictionaries
 **all the remains is reading of text files and matching the sections, items with dictionaries and using mem_write!

Difference between revisions of "Hours 1011"

Revision as of 03:07, 22 November 2010

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