Difference between revisions of "Todo"
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=Aug 09= | =Aug 09= | ||
Revision as of 17:24, 13 September 2009
- garden12 ; emg_2009 ; Enc_2010 ; AKENC ; Kknee1 ; Br46_v1 gps1 ; lifefix ; battery ; loadwasher ; elecdog ; Brushless_control ; ceb_misc_prj ; pf_top_nav ; T
- 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
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=309&baseItemOID=500
- http://www.chdist.com/displayproductdetail.do?itemGroupOID=306&baseItemOID=495&skuSearch=Y
Contents
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.
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
