Todo

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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.

Sep 09 hours

Sun : Sep 13, 2009

  • 15 mins - admin

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 Sep 10, 2009

    • 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 AK 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 - 2:20aa
    • 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

  • 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
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