Revision as of 22:37, 10 October 2009

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• PCA : PCB ; AKENC SC/MC 218  ; FET 217 ; IMU219 ; Swifi ; Rev200_mods  ; PCA Inventory
• Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
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• NEW (CEB) WIKI
• Torque Feedback Controller Guide

Edit

• LF: Lifefix_users; Ltf_science; lifefix_log ; Loadwasher ; Lifefix;

urgent

• 9-30-09 : determine drift of real-time clock
  • 9-30-09 : 9:57pm - set clock to with in +- 0.5 sec of GMT
  • 10-3-09 : 4:10pm - +0.765

important

• 10-10-09 : lifefix :

PASS 166 (of 500), MC state 44, time 18:36:11, thrust 2000.0

--------------------------------------------------------------------------------
ERROR DURING LIFEFIX ANALYSIS PROCESSING
<type 'exceptions.IndexError'> index out of bounds

Traceback (most recent call last):
  File "./run_lifefix.py", line 382, in process
    results = self.analysis.process_cycle(data_list);
  File "/home/cbarn/src/pfcmd_python/lifefix_analysis.py", line 363, in process_cycle
    valid_ndx = numpy.arange(start[0]+1, 2+start[0]+stop[0])
IndexError: index out of bounds
================================================================================
error processing results
(<type 'exceptions.TypeError'>, TypeError('zip argument #1 must support iteration',), <traceback object at 0x1c9e320>)

• 10-03-09 : lifefix - the swifi is likely not being flushed at the start of a cycle. at the end of the cycle the logging is stopped before it is known that the full cycle data has been received. (eg data could be help up in TCP buffer space.)

• 9-29-09 : motor has minor, random, movement while in mode 3
• 9-29-09 : motor moves 1/4 turn when entering mode 3
• 9-22-09 : SWIFI at times sends garbage over radio. Cause unknown.
  • One instance of this was caused by WIPORT baud rate problem
• 9-22-09 : boot sequence has commutation trouble. needs to limit # of retries

unconfirmed

• 9-29-09 : addition of MILE encoder error checking or encoder type detect might have made use of non-MILE encoder motor not work

nuisance

possibly fixed

• 9-29-09 : commanding mode 2 (without disabling ABS encoder) causes an ABS encoder error - causing MCSM to jump to state 80

features

• 9-29-09 : ability to support high speed (10khz) logging of specified signals

• 9-20-09 : figure out how to reduce the distribution of the resistance measurements.

resolved

• 10-8-09 (fixed) nuisance 10-07-09 : on LF, when using SWIFI mode, must run UDP_TERM on PC - else there are obscure error messages from run_life. And the swifi no longer works.
  • added code to swifi.py to write to the udp destination and trap an error. if there's an error, the text output stream is set to None.