Difference between revisions of "PF1 Code History"
From DIDEAS Wiki
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Line 13: | Line 13: | ||
**make use of | **make use of | ||
*imu | *imu | ||
+ | *test a new special2 command. one that allows text output. | ||
*wow ankle | *wow ankle | ||
**first get the code version. | **first get the code version. | ||
**make sure LV notification works. | **make sure LV notification works. | ||
+ | |||
+ | |||
+ | =5-9-09= | ||
+ | *rewrote overload monitor. now a single function works on a data structure. | ||
+ | *special commands to load,save,erase user profile regions. command to list IDs | ||
+ | |||
+ | |||
=5-8-09= | =5-8-09= | ||
*antislip gain changed from 3 amps per deg, to 88 NM per deg. | *antislip gain changed from 3 amps per deg, to 88 NM per deg. |
Revision as of 19:12, 10 May 2009
Upd pcb SC MC SC_TEST PF1 Code History
todo
- verify 1 side torque
- smart overload response
- smart offset torque timeout response (set offset->0; disable torque limit)
- resistance
- verify operation EEPROM
- make use of
- imu
- test a new special2 command. one that allows text output.
- wow ankle
- first get the code version.
- make sure LV notification works.
5-9-09
- rewrote overload monitor. now a single function works on a data structure.
- special commands to load,save,erase user profile regions. command to list IDs
5-8-09
- antislip gain changed from 3 amps per deg, to 88 NM per deg.
- added code to log SG offset at boot
- added code to read the clock in RND screen
- first 4 bytes are a code that (ultimately will) direct how the ankle boots
5-7-09
- removed SM calls to setting current limit. motor init sets to some large default value.
- removed most calls to get_data4 from MC tk_cmdset.
- if cmd>10000; then don't return a gd4 packet, if cmd was 11111
- one side imp torque is set by 1461, unset by 1331
- HH successful test although there was a failure.
5-6-09
- SC to MC commands add 10000 if locally generated. This allows the MC to automatically send a dataport packet, and always return a get_data4 packet.
- mode zero uses encoder to set qAngle -> qIq is correct
5-5-09
- added MILE encoder to MC code base
5-4-09
- added much of OCT release to SM code base