View source for Flexbot software

Back to [[Flexbot]] main page
=Change request (issues)=
Amend when a problem is noted, and delete when corrected.
* No items yet - yay!

=Open items (to-do)=
The software can divided into three parts; [[#Ankle software|ankle]], [[#Knee software|knee]] and [[#Body software|body]]. Each section holds the open items for the specified Teensy board.

When starting on a new item, the developer should create a branch of the master in order maintain a current working version of the software on the master branch. When an item is completed and well tested, the developer should merge the branch into the master branch. It is the developers responsibility to ensure everything on the master branch works as it should after merging. After completing an item, please delete it from the list below and remove the branch on git (both locally and remote). The history of the branch will be not be deleted. 

==Ankle software==
This list specifies the to do list for the ankle software.

* Port data_logger, eeconfig, command (terminal interface) and control from knee code to obtain a matching interface.
* Implement support for rotary encoder.
* Add a modular controller setup. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.



==Knee software==
* Add a more modular controller setup. As of now only a P-controller is available. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.
* Implement a second linear actuator in code. Most variable are already arrays of 2 to hold values for both actuators, but complete implementation is missing.
* Implement a second MPU. Either on same bus as the one already existing or to a new wire. 
* Add support for the linear actuators with hall sensor feedback. Currently the linear actuator has potentiometer feedback, but this will be changed in the future.


==Body software==
Not started yet. Will wait till mid/late autumn.