• Testing of the LoHet? and Encoders.
• Added an additional switch statement to user called "calibration". Additions and modifications where made to the main.cpp, user.cpp, and definitions.h.
• New folder in the project folder called 2008_backup01 is where the unmodified code is kept.

• setup a ftp server on the QNX machine so that file transfers will be much easier. We can now program on laptop and transfer to QNX machine. ip:172.24.68.49:21 (It is a static ip?)

• Typing in "display on" will periodically display the encoders attached to the minis, the joint encoders, and the velocities of the joint encoders.

• right arm's fore-arm is very tight. Why is this? and what can we do about it?

Procedure for calibration of the Lohet Sensor.

• Step 1: Disconnect the Spring element on the macros.
• Step 2: Physically move the arm to the lowest energy state.
• Step 3: Secure the arm to that zero position.
• Step 4: Rotate the free moving motor with encoder attached until the LOHET zeros out. Zero out the encoder at this time too. [How do you "zero" either out?]
• Step 5: Start calibration program that will store LOHET and encoder information until finished. Rotate the free motor side that is connected to the encoder. Save this data (this will be the data that you will fit a spline to later to use as your deflection angle measurement).
• Step 6: Will probably take two people to do. Run the display encoder/LOHET program. Try to align the zero encoder state to the zero Lohet State and then attach Series elastic Actuator.
• Step 6: It will be unlikely that the encoder will have moved, but the lohet will probably read something other then zero when it is completely attached. Record this offset along with the calibration data.
• Step 7: Fit a spline into the set of data and subtract the offset from step 6.
• Step 8: You now have a deflection vs. LOHET value and this will fit into the F = k*deflection. equation and give you the torques applied by the motors.