Feb to do list

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February To Do List

• 01.28.2008 - 02.1.2008

1. Clean up lab
2. Finish cadding the cut files
3. Get parts cut out with laser cutter
4. Begin work with PIC24
5. Edit notes from Durga for DIS class #2 Thursday (Jan. 24, 2008)

• Accomplishments

1. Cleaned lab for about 4 hours (cleaned sink, swept, threw away unneeded items
2. Cadding is finished except for motor brackets
3. This will be performed next week
4. Samples have been ordered and Dr. Jones has asked for me to wait on development
5. Have not received these from Durga yet

• 02.4.2008 - 02.8.2008

1. Edit notes for DIS class #2 Thursday (Jan. 24, 2008)
2. Write notes for DIS class # 3 Tuesday (Feb. 5, 2008)
3. CAD motor brackets
4. Relayout cad files in Autocad for smaller Lexan sheets (1' x 1')
5. Register for ST Cortex M3 Seminar in Huntsville, Al
6. Write notes for DIS class #3 Tuesday (Feb. 5, 2008)
7. Talk to Dr. Jones about next stage of program for the robot

• Accomplishments

1. Notes were edited and combined with notes from class #1
2. Notes were finished and corrections were made per Dr. Jones request and notes were combined with #1 and #2
3. Motor brackets are finished
4. Cut files are completely finished and were sent to Dr. Jones
5. Registered for seminar and have travel papers finished
6. Spoke with Dr. Jones and he feel that it is best to start over on the joystick software and just use MatLAB

• 02.11.2008 - 02.15.2008

1. Arrange a hotel for Seminar
2. Speak with Dr. Jones about particular information to gather while at Seminar
3. Edit notes DIS class #4 Thursday (Feb. 7, 2008)
4. Combine robot code with Matlab_to_PIC bridge code
5. Meet with Dr. Jones about ST seminar

• Accomplishments

1. Hotel arrangements have been made
2. Dr. Jones asked me to gather information about the possibility of setting up a new platform with ST here at MSU
3. Notes are edited and combined
4. code has been combined
5. Met with Dr. Jones and I need to follow up on the Programming stick from St

• 02.18.2008 - 02.22.2008

1. Follow up on Programming Stick from St
2. Rewrite code for MatLAB and SCR for complete Matlab control
3. Speak with Dr. Jones about new ST platform
4. Turn in travel info
5. Put dual motor drive together for Dr. Jones

• Accomplishments

1. Can be used as standalone programmer and debugger for ~$85 from digikey
2. Code still needs development
3. Dr. Jones and I agreed that setting up a new platform, with 32 bit, wasn't worth it for the limited advantages that it has
4. Travel info turned in
5. Dual motor drive is together and has been given to Dr. Jones

• 02.25.2008 - 03.8.2008

1. Create List of ideas for the wiki: svn tips, Endnote tips, etc
2. Separate and update Policies and procedures under People in the group wiki page.
3. Move directory to student svn directory
4. Check on help for word, for documentation on how to get the most out of it
5. Put SCR robot together
6. Determine the min and max cable lengths possible
7. Write MUnit test for the Inverse Kinematics function
   1. test1: perform fwd kinematics on the outputs of the function to ensure starting results are achieved
   2. test2: test k = 0, when k = 0, s = L1 = L2 = L3
8. Write Safety function with specific checks for s, kappa, and phi
   1. Check that torque limits are not exceeded based on L1, L2 and L3
   2. Check to ensure slack is not longer than the cables are
   3. Check to ensure s is equal(not equal but within at least 1/10th or 1/100th of a cm) to the length of the rod
9. Write MUnit test for the Safety function
   1. test1: When a invalid case(invalid L1, L2, L3 are achieved) is input initially, output a predefined homeplace
   2. test2: When a valid case(valid L1, L2, L3 are achieved) is input check to ensure it is passed to the PIC
   3. test3: When a invalid case is input after a valid case, the last valid case is sent to the PIC
   4. Edit intro to robotics parts list: take off unneeded items and add needed items

• Accomplishments

1. A link to the svn wiki page has been created on the procedures page. I have not used Endnote yet, but will leave this on the to do list, until I do so
2. Policies and procedures have been separated
3. My Directory has been relocated to the students directory
4. Have looked at this quickly and will continue to do so
5. Have started this and will finish shortly
6. Everything from here has been moved to next week's to do list

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Ricky Gray