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TODO.md

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BeagleBone

System startup

  • Start telemetry on system boot

Servo tuning while walking

  • leg_control listens on LEG_COMMAND for packets to send on modbus
  • Need to write tool to pack and send
  • Simultaneous on all legs
  • Enfield gain values (Gain, Damping, derivative, etc)

Leg tool #NextYear

The feature set for a magical do-everything tool to configure the robot firmware. For now, see Hull/Test/modbus_ui.c

  • Select leg by address
    • Scan for choices
  • Firmware update over modbus (as soon as the firmware supports it)!!!
  • Change address of selected leg
  • Display all feedback
    • Set polling frequency
    • Sensor Voltage
    • Angle
    • Length
    • Output voltage
    • Enfield command input
    • Rod pressure
    • Base pressure
    • adjust linearization parameters
      • min, max sensor voltage
      • min, max joint angle
      • min, max cylinder length
      • min, max output voltage
  • Tune servos
    • Set feedback polling frequency
    • All servo parameters (14 total)
    • All servo toggles (5 total)
    • Servo serial
    • Servo firmware rev
    • Plot command, feedback position
    • Manual position command
    • signal generator
      • set update period
      • sin/square
      • set signal period
      • set signal amplitude
      • set signal zero level
  • Command toe position

Gait Generation

Telemetry

  • Radio works, /dev/tty.mikrobus1, 115200
  • Radio is RFD900x
  • Get telemetry branch merged!

Pressure ADC

  • Uses internal ADC, depending on wiring read from /sys/bus/iio/devices/iio:device1/in_voltageN_raw to sample value.
  • read /sys/bus/iio/devices/iio:device1/in_voltage_scale for a scale to convert the raw value to voltage

IMU

  • Pins enabled by overlay
  • No signals verified with scope, no response from device. Sent message to Yost through website contact form, also no response.

WiFi

  • hostapd configured /etc/hostapd.conf, SSID ChompTheBattlebot
  • interface configured /etc/network/interfaces wlan0 192.168.4.1/28
  • dnsmasq configured /etc/dnsmasq.conf DHCP range 192.168.4.2-14
  • DHCP requests arrive, responses sent (tcpdump)
  • Client never receives DHCP response (tcpdump)

Leg Board

Optimize kinematics

  • Complex results usually just use real part, don't compute complex part
  • Would DH parameters be better?

Firmware update over modbus #NextYear

  • Firmare uses sectors 5, 6, 7, IVT in Sector 2
  • Bootloader in sector 4, IVT in Sector 1
  • Storage in Sector 3
  • On reset, bootloader check memory for special value, if not found sets VTOR for sector 2 and jumps to firmware reset

Auto-addressing #NextYear

  • All boards boot with only all-call address (0x255)
  • Any board who's UPSTREAM input is high also responds to address 0x55
  • Modbus holding register write to change address (0x01)
  • Modbus coil write to set DOWNSTREAM output (0x01)
  • On boot, all DOWNSTREAM outputs are off.
  • To start addressing
    1. BeagleBone sets first UPSTREAM. GPIO needs to be wired on RS485 Click.
    2. BeagleBone sets 0x55 board's address with write to 0x01
    3. BeagleBone de-asserts UPSTREAM
    4. BeagleBone asks newly addressed device to raise DOWNSTREAM
    5. BeagleBone sets 0x55 board's address with write to 0x01
    6. BeagleBone asks currently asserted device to de-assert
    7. repeat from 4 until all boards addressed