PF1 Code History

Upd pcb SC MC SC_TEST PF1 Code History

5-17-09 (SUN)

• verified operation of -R operation in python

5-14-09

• track test

5-13-09

• wrote SWIFI reconnect code. added new ESC seq to wifi_fast

5-12-09

• commands (1341) to set safety imped
• moved def of feature bits to system constants
• added (RND) mode cmd to enable / disable relaxed mode
• created virtual encoder in MC to deal with changing of imped zero position and offset.
• wrote code to scale PFF thresholds as a set
• python code to parse global.h file. used this to decode a memory read from ankle
• AC motor resistance measurement.

to zero

• set the MC imped offset to the current encoder position
• set the SC offset to zero

to adjust imped zero position

• encoder count at zero is not the initial A zero
• imped offsets need to be WRT this initial A zero
• cant change encoder count zero as that messes up commutation
• virtual_encoder = physical_encoder - phys_offset

5-11-09

• rewrote EEPROM_SFS to work from a walking_param pointer (instead of the working copy)
• renamed "read_user_data" to "read_walking_param", etc.
• added code to actually send / rcv walking params, and pfcmd support

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