PF1 Code History

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