To Do - ProjectHexapod/Main GitHub Wiki

##Software

  • Calibration tests

    • Joints
      • create test plan
        • data to collect:
          • deadband parameters
          • minimum velocities to overcome stiction
          • stall velocities
          • ends of travel
        • analysis to complete:
          • smooth motion
      • write calibration scripts
        • linear position control
        • angular position control
        • linear velocity control
        • angular velocity control
        • straight line
        • sine wave
        • zero-crossing
    • Compliant links
      • create test plan
      • write calibration scripts
      • linearization?
    • IMU
      • create test plan
      • Talk to IMU (existing code?)
      • Calibrate IMU

  • ROS

    • Create Robot Definition File
    • Create Launcher script
    • Create node files
    • set up Gazebo

  • Engine Control

    • throttle control
    • fan control
    • pump control

  • Networking

    • setup hosts files for networking (complete?)

  • User Interface

    • import the joystick code
    • translate joystick input into gait commands (existing code?)
    • create outputs for dashboard

  • Utilities:

    • dithering
    • e-stop
    • speed ramps

  • port existing code:

    • import the gait code
    • import IK (irrelevant thanks to ROS?)

  • add force inputs to BBB code

    • what does this mean????

##Hardware
###Critical:

  • Get clean current feedback signal signals
  • on hold?
  • Put in analog filter
  • Or - raise PWM rate and do manual dithering
  • Put network switch in sealed enclosure inside console?
  • Install (soft) E-stop trigger for console
  • Replace alternator
  • Hitachi one-wire
  • Hip controllers
  • Solder hip capes
  • Drill out hip enclosures
  • Wire up hip solenoids
  • Wire up ethernet
  • Wire up power
  • Wire up string pots

###Non-critical:

  • Engine control board
  • pump bypass valves
    • one PWM each
  • Throttle servo
  • hydraulic temperature sensor
  • hydraulic pressur sensor
  • engine temperature sensor
  • tachometer
  • alternator idiot light
  • Look at flyback diodes for solenoids with an oscilloscope to make sure they are fast enough to prevent voltage spikes