PF1 Code History

Upd pcb SC MC SC_TEST PF1 Code History

todo

• verify 1 side torque
• verify overload parameters.
• verify early to late state transition
• make sure PFF parameters can be scaled easily.

• • 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.

5-10-09

• added support for new commands into pfcmd.py
• added set time to pfcmd.py
• experimented with lantronix com port redirector. is able to connect to swifi and route PFcmdmenu. however can't really be used to repeat cmds. also only allows one com port to be opened at a time. will need come up with a way to multiplex CMD-RSP from several programs.
• verified operation of overload imped state
• wrote motor resistance, and send back to SM.
• increase swing time from 200 mS to 250 mS

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