Revision as of 16:16, 13 September 2009

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• ceb_log todo BMdoc notes hours_1012 hours_1101 hours_1102 hours_1103 lifefix_log T
• PF Users Navigation:
• PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
• 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
• DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
• NEW (CEB) WIKI
• Torque Feedback Controller Guide

Edit

• http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500
• http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y

todo

• investigate apparent current overflows with large backdrive freq.
• figure out what is going on with motor resistance.
• recode PI loop to saturate Isum
• get the KCA code working.

hours

Sat : Sep 12, 2009

• hours 30 mins + 30 mins home depo
  • discuss LF status with RC (nearly vibrated off table, ball nut and loadwasher out of AK)
  • attempt to import large overnight text file into matlab. need to write a new converter.
  • trip to HD to purchase blue SP and clamps to hold LF

• 4:05 - 9:10pm
• greatly improved Kistler charge amp class, mostly working
• 1 hr discussion / interview with Robot Designer

Fri : Sep 11, 2009

• hours : 3:10pm to 9:30pm
  • create background process for move_ecat from python, rewrite the copley_control class
  • explain motor PI loop to ZH, discover improper saturation of I term.
  • w/ZH use sweep frequency to drive fixture under mechanical various conditions
  • start life fixture

Thur :

• • 12:45 - 4:20 pm; email re test fixture, phone with RC re lifefix; starting writing firmware to allow getting/setting MC variables by para_id, write python serial_port_helper; write program to test belt.
  • Arrive IW 5pm - leave 3:55am (-2 hr for dinner)
  • test min/max
  • discuss with RC the torque ripple.
  • replace broken belt
  • write motor current function generator
  • do belt resonance exprements, send plot to RC / ZH
  • help a proper belt broken test

Wed Sep 9 : 4:05pm - 1am (-1 hr dinner w/RC) + 1.5 hrs on phone at home

- discuss status of fixture with Rob (wanted to see if there were problems.) - spoke w/Rick and Zhixiu on status then tune up the ankle to full power.

-Met with Kristin we experiment with lifefix to find cause of resonance - experiments with life fix and Q of resonance - clampped masses to end of drive ball screw, fixture, etc, nothing seemed to change resonance freq - found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q - confirmed ZERO cogging in motor outside of lifefix - measured LW thrust with motor leads shorted, and when driving 'constant' current; found significant ripple.

Tue Sep 8 : 3:15 - 2:20am

- working on life fix, demo results, rick observed that lw thrust is very low; we use loadcell as a conformation and discover there's a problem - turns out that charge amp scale values were different from those on my PC viewer, and ankle code ( guess they had been reset.) - discuss with Zhixiu alignment of the datasets. figure out how a PVT works, - final turning of life fix and leave it running - find that at high thrusts there are problems. - modified ReadLoadCell.cpp - adjusted sample rate, added time to filename, improved file write

• Mon Sep 7 : 4pm - 4:15am

- working on life fixtujre - scripted pfcmd in linux, got test jit working - burned out rs232 cable due to groun problems?

Aug 09

• car insurance - discuss metlife w/DWB
• MITFCU - call about fees for savings/ money market.
• Report expenses for Chicago trip
• Locate receipts for MIT video card purchases.
• contact WI re sales tax collection error

IW

• test RTOS
• PCB - isolated RS232, SWIFIs

7-10-09

• for monday - damping FF at zero degrees.
• send out loadwasher.

7-4-09

• force fields are loaded automatically, need to ENABLE
• (yesterday)(fixed issues of feature bits and runleve.
• SC - check for hall zero - but to correct, need the spline table.

7-3-09

• force fields are loaded automatically, need to ENABLE
• IMU automatically on (why is EEPROM ignored?) (believe causes by feature bits in walking_param)
• check for hall zero location
• chech for normal SG offset.
• PVF engages at zero vel crossing, allow for vel-offset.

7-2-09

• IMU signal processing
  • accelerometer, direct output ; ratiometric, powered by 3.0V ref
  • z axis gyro : powered by 5V, uses 3.0V ref on Vratio, 267k at Sumj; dynamic rage = 500 deg/sec
  • x&y gyro : 3v power supply
  • gyro and accl signals all have 1k, 0.1uF RC filter

6-30-09 todo

• zero encoder based on calibrated hall sensor.
• write python program to bump overload parameters, and monitor max
• PC programs to load/save defaults
• program to convert matlab calb files into python calb table

before next track test

• create a command that has a single parameter to specify the type of code to run
  • wake into mode 0, sensors are operational (for test jig)
  • wake into mode 0, but also do commutation (for test jig where ankle will be driven.)
  • wake into walking mode, with impulse current = 0
  • wake into walking mode, using EEPROM defaults, but impulse current = 0
  • wake into walking mode, using EEPROM defaults, with impulse current
  • DEMO mode : using EEPROM defaults, relaxed enabled, full impulse current
  • ability to specify which EEPROM table is the default.

• ability to read out the SG offset log - seems to have an issue...
• DONE : use CRC with WIFI_FAST
• MORE WORK : load / save walking parameters
• IS USED FOR HALL SENSOR : use calibration table
• TODO : use motor current offset.
• VERIFY : use force fields
• TODO : glue down hall sensor.

statemachine

• detech motor faults - just to holding state.
• overload warning - detect and servo to safe position.
• integrate in the EEPROM code.
• VERIFY : during swing issue a test current into the motor to measure it's resistance (store somewhere)
• statemachine - look at MC offset, if there is much disagreement with defaults then signal error
• statemachine - log SG offsets
• add thermal model for motor and ACS712 to state controller
• code to make sure the motor is moving correctly when reseting the encoder.
• learn to use the EEPROM. log SG torque at boot, and during each step.
• capture initial SG offset into EEPROM
• capture SG offset during swing into EEPROM

PCB IW812a

• encoder breakout
• current sensor - isense1 (unipolar)
• faux SG board
• sg breakouts x 4
• pser1d - udp compat pser
• fup1 - gender changer

PCB todo

4 layer

• re-spin motor and state controllers? Knee PCB?
• send out PSER1D and other boards in 4layer nice.
• WIFI w/2Meg RAM
• electronic fuse, ballancer, ON/OFF switch - battery pack less the charger.

• FUP flash drive datalogger.

• if needed - FUP datalogger w/Wifi / BT and 2meg ram
• motor voltage circuit
• In VNC1 : change 3.3V regulator to MCP1700, 3.3V  ; 2.2M resistor to 2.0Meg; voltage and resistor for the LT3470 regulator

old

• verify thermal models Thermal data

• need a way to verify that TVS is operational. need to see what effect T has on TVS voltage.

• MC code improvement
  • verify Q15 operation of code on MC
  • MC feedforward.
  • motor controller safety and thermal model for motor and FETs - needs to stop motor....
  • motor commands needs to allow readback of selected sensor (so we can cycle through lots of sensors)

• current measurement PCB (with Y voltage measure)
• encoder breakout boards
• SG breakout boards
• new WIFI wireless