# Notes from CPF Buoyancy Engine Troubleshooting Discussion

## Discussion
- Gene explains the nature of the problem, how it manifested offshore, and the reproduction that has happened to the other unit in the lab.
- Jon confirms oildyne isn't much help, in both CPF and LRAUV uses, we are in a far low end of the normal operating range.
- Brent asks about using EAS for better current measurements:
	- Gene tried this because we somehow damaged the LHE Board.
	- Ed reports the issue may be in the logic section.
	- Batteries were very low when this happened.
- Gene showing status output:
	- 16000 counts is 1 revolution
	- Brent asks why we need to be on the battery pack vs a PSU.
	- IQ is at 
	- Ben confirms LRAUV issues may have been a commutation error, misalignment between hall and windings. Not seemingly confirmed.
- Brent has used the pump successfully to 130 meters.
- Couldn't get a torque wrench on the pump before to measure. 
- Chads issues on Elmo's involved default acceleration profiles being too high. 
- Ed's interested in whether velocity control loops aren't appropriate in this highly varying torque scenario. Could we try current mode. 
	- LRAUV tried torque mode, no joy.
- Ben mentioned trying different oils. CPF was using 15W.
- Jon does not have a drawing for the individual pistons, confirms that there are positions in which pistons could be hard up against tank and supply side. (Two pistons at low pressure and only 1 on the high side and vice versa)
- Maybe we need to measure current on the motor windings instead of on the Elmo input.
- Ben has code to run the dynamometer. 

## Action Items
- Jon/Ben help Gene set up accumulator
- Try to separate whether this is a motor, pump, or controller. 
- Get a pump hooked up to a DC Motor maybe with a gearbox
	- Maybe spec one without a gearbox for simplest setup.
- EC90 motor 200W on order (2 weeks)
- LRAUV uses the Whistle, CPF uses the Twitter