PF1 Code History
From DIDEAS Wiki
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
- wow ankle
- first get the code version.
- make sure LV notification works.
5-8-09
- antislip gain changed from 3 amps per deg, to 88 NM per deg.
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