20:05:23 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 267 20:05:18 Start to record the Battery charging 20:05:18 STATION / CHARG Dir 0 State changed at 6700962 From state STAT 20:05:18 STATION / STAT Dir 0 State changed at 6700962 From state STCHK 20:05:18 Charge Voltage detected 20:05:16 BACKTOSTATION / STCHK Dir 0 State changed at 6699460 From state PTRK 20:05:16 Detect a voltage on charging contact check if it's the station 20:05:15 Set New perimeter tracking speed 80 20:05:15 Change speed for 200 centimeter actual/Cible 2293 / 2493 20:05:15 Set new speed and distance : 80 20:05:15 RFID detect reduce speed Tag : 20:05:15 RFID Tag find ToDO is: SPEED 20:05:15 Find a tag : 4082DA95 20:04:50 BACKTOSTATION / PTRK Dir 0 State changed at 6673035 From state ROLLSTOPTOTRACK 20:04:50 BACKTOSTATION / ROLLSTOPTOTRACK Dir 0 State changed at 6672671 From state ROLLTOTRACK 20:04:48 BACKTOSTATION / ROLLTOTRACK Dir 0 State changed at 6670798 From state STOPTOTRACK 20:04:47 BACKTOSTATION / STOPTOTRACK Dir 0 State changed at 6670213 From state PFND 20:04:47 Not inside so start to track the wire 20:03:53 BACKTOSTATION / PFND Dir 0 State changed at 6616477 From state ROLLTOTAG 20:03:53 Area In Mowing 1 Area To Go 1 20:03:53 BACKTOSTATION / ROLLTOTAG Dir 0 State changed at 6615654 From state TRACKSTOP 20:03:53 New PeriFind Heading 122.97 20:03:53 Actual Heading 94.97 20:03:52 BACKTOSTATION / TRACKSTOP Dir 0 State changed at 6614885 From state PTRK 20:03:52 RFID Find faster return 20:03:52 RFID Tag find ToDO is: RTS 20:03:52 Find a tag : 72B8DB95 20:02:41 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-1 pwmLeft=17 state PTRK 20:02:41 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-2 pwmLeft=2 state PTRK 20:02:40 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=114 On state PTRK 20:02:40 BACKTOSTATION / PTRK Dir 0 State changed at 6543155 From state ROLLSTOPTOTRACK 20:02:40 Warning can t PERI_OUT_STOP_ROLL_TOTRACK in time 20:02:37 BACKTOSTATION / ROLLSTOPTOTRACK Dir 0 State changed at 6539811 From state ROLLTOTRACK 20:02:34 BACKTOSTATION / ROLLTOTRACK Dir 0 State changed at 6536918 From state STOPTOTRACK 20:02:33 BACKTOSTATION / STOPTOTRACK Dir 0 State changed at 6536168 From state PFND 20:02:33 Not inside so start to track the wire 20:02:22 BACKTOSTATION / PFND Dir 0 State changed at 6524551 From state WAITSIG2 20:02:22 Area In Mowing 1 Area To Go 1 20:02:22 SmoothMagnitude = 502 20:02:22 SIGWAIT / WAITSIG2 Dir 0 State changed at 6524549 From state STOPTONEWAREA 20:02:22 Start to read the Perimeter wire 20:02:21 REMOTE / STOPTONEWAREA Dir 0 State changed at 6524030 From state DRIVE2TONEWAREA 20:02:19 REMOTE / DRIVE2TONEWAREA Dir 0 State changed at 6522188 From state ROLL2TONEWAREA 20:02:17 REMOTE / ROLL2TONEWAREA Dir 0 State changed at 6520172 From state STOPTONEWAREA 20:02:17 New Remote Heading 116.31 20:02:17 Actual Heading -153.69 20:02:17 REMOTE / STOPTONEWAREA Dir 0 State changed at 6519615 From state DRIVE1TONEWAREA 20:01:55 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=4 state DRIVE1TONEWAREA 20:01:55 REMOTE / DRIVE1TONEWAREA Dir 0 State changed at 6498454 From state ROLL1TONEWAREA 20:01:55 Warning can t roll in time 20:01:51 REMOTE / ROLL1TONEWAREA Dir 0 State changed at 6493761 From state STOPTONEWAREA 20:01:51 New Remote Heading -151.86 20:01:51 Actual Heading -69.86 20:01:50 New sigcode in use : 1,1,-1,-1,1,-1,1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,1,1,-1, 20:01:50 Change to Area : 1 20:01:50 REMOTE / STOPTONEWAREA Dir 0 State changed at 6492656 From state PTRK 20:01:50 Stop to read the perimeter wire 20:01:50 Change speed for 1000 centimeter actual/Cible 5420 / 6420 20:01:50 Area2 Sender is Stop 20:01:50 Try to Stop Area2 Sender 20:01:50 Return to Station area ---> 20:01:50 RFID Tag find ToDO is: NEW_AREA 20:01:50 Find a tag : 8ECDDB95 19:58:10 BACKTOSTATION / PTRK Dir 0 State changed at 6272696 From state ROLLSTOPTOTRACK 19:58:09 BACKTOSTATION / ROLLSTOPTOTRACK Dir 0 State changed at 6271560 From state ROLLTOTRACK 19:58:05 BACKTOSTATION / ROLLTOTRACK Dir 0 State changed at 6268432 From state STOPTOTRACK 19:58:04 BACKTOSTATION / STOPTOTRACK Dir 0 State changed at 6267160 From state PFND 19:58:04 Not inside so start to track the wire 19:58:03 BACKTOSTATION / PFND Dir 0 State changed at 6266141 From state FRWODO 19:58:03 Area In Mowing 2 Area To Go 1 19:58:03 Bat Voltage is low : The mower search the charging Station 19:58:03 Batterie Voltage : 24.00 -- > Minimum Mowing Voltage : 24.00 19:57:52 NORMALMOWING / FRWODO Dir 1 State changed at 6255114 From state POUTFOR 19:57:51 NORMALMOWING / POUTFOR Dir 1 State changed at 6253636 From state POUTROLL 19:57:48 NORMALMOWING / POUTROLL Dir 1 State changed at 6251050 From state POUTREV 19:57:46 NORMALMOWING / POUTREV Dir 1 State changed at 6248977 From state POUTSTOP 19:57:45 Timer 2 startmin 1084 stopmin 1351 currmin 1197 19:57:45 checktimer 19:57:45 NORMALMOWING / POUTSTOP Dir 1 State changed at 6247974 From state FRWODO 19:57:45 Perimeter trigger at : 6247974 19:57:44 NORMALMOWING / FRWODO Dir 1 State changed at 6246553 From state AUTOCALIB 19:57:44 OK next state out rev 19:57:43 4 sec of read value, verify if the drift is stop 19:57:39 NORMALMOWING / AUTOCALIB Dir 1 State changed at 6242006 From state STOPCALIB 19:57:39 NORMALMOWING / STOPCALIB Dir 1 State changed at 6241814 From state ROLLTOFINDYAW 19:57:36 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 6238953 From state FINDYAWSTOP 19:57:36 <<< <<< <<< <<< <<< << 0 19:57:36 imu.comYaw 177.48 imu.ypr.yaw 193.74 distancePI(imu.comYaw, imu.ypr.yaw) 0.16 19:57:35 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 6237900 From state FRWODO 19:57:31 NORMALMOWING / FRWODO Dir 1 State changed at 6233889 From state POUTFOR 19:57:29 NORMALMOWING / POUTFOR Dir 1 State changed at 6232423 From state POUTROLL 19:57:28 NORMALMOWING / POUTROLL Dir 1 State changed at 6231444 From state POUTREV 19:57:26 NORMALMOWING / POUTREV Dir 1 State changed at 6229224 From state POUTSTOP 19:57:25 NORMALMOWING / POUTSTOP Dir 1 State changed at 6228232 From state FRWODO 19:57:25 Perimeter trigger at : 6228232 19:57:07 NORMALMOWING / FRWODO Dir 1 State changed at 6209594 From state POUTFOR 19:57:05 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state POUTFOR 19:57:05 NORMALMOWING / POUTFOR Dir 1 State changed at 6208212 From state ROLLTOIN 19:57:05 Warning can t Roll to inside in time 19:57:01 NORMALMOWING / ROLLTOIN Dir 1 State changed at 6204060 From state POUTROLL 19:57:01 Find Inside roll nb: 0 19:57:00 NORMALMOWING / POUTROLL Dir 1 State changed at 6203223 From state POUTREV 19:56:58 NORMALMOWING / POUTREV Dir 1 State changed at 6201401 From state POUTSTOP 19:56:57 NORMALMOWING / POUTSTOP Dir 1 State changed at 6200343 From state FRWODO 19:56:57 Perimeter trigger at : 6200343 19:56:38 NORMALMOWING / FRWODO Dir 1 State changed at 6181407 From state POUTFOR 19:56:37 NORMALMOWING / POUTFOR Dir 1 State changed at 6179930 From state POUTROLL 19:56:35 NORMALMOWING / POUTROLL Dir 1 State changed at 6177671 From state POUTREV 19:56:33 NORMALMOWING / POUTREV Dir 1 State changed at 6175583 From state POUTSTOP 19:56:32 Timer 2 startmin 1084 stopmin 1351 currmin 1196 19:56:32 checktimer 19:56:32 NORMALMOWING / POUTSTOP Dir 1 State changed at 6174732 From state FRWODO 19:56:32 Perimeter trigger at : 6174732 19:55:44 NORMALMOWING / FRWODO Dir 1 State changed at 6126860 From state POUTFOR 19:55:42 NORMALMOWING / POUTFOR Dir 1 State changed at 6125478 From state POUTROLL 19:55:42 NORMALMOWING / POUTROLL Dir 1 State changed at 6124911 From state POUTREV 19:55:40 NORMALMOWING / POUTREV Dir 1 State changed at 6123069 From state POUTSTOP 19:55:39 NORMALMOWING / POUTSTOP Dir 1 State changed at 6122003 From state FRWODO 19:55:39 Perimeter trigger at : 6122003 19:55:23 NORMALMOWING / FRWODO Dir 1 State changed at 6105838 From state POUTFOR 19:55:21 NORMALMOWING / POUTFOR Dir 1 State changed at 6104370 From state POUTROLL 19:55:20 NORMALMOWING / POUTROLL Dir 1 State changed at 6103563 From state POUTREV 19:55:19 NORMALMOWING / POUTREV Dir 1 State changed at 6101611 From state POUTSTOP 19:55:18 Timer 2 startmin 1084 stopmin 1351 currmin 1195 19:55:18 checktimer 19:55:18 NORMALMOWING / POUTSTOP Dir 1 State changed at 6100713 From state FRWODO 19:55:18 Perimeter trigger at : 6100713 19:54:37 NORMALMOWING / FRWODO Dir 1 State changed at 6060422 From state POUTFOR 19:54:36 NORMALMOWING / POUTFOR Dir 1 State changed at 6059011 From state POUTROLL 19:54:34 NORMALMOWING / POUTROLL Dir 1 State changed at 6057017 From state POUTREV 19:54:32 NORMALMOWING / POUTREV Dir 1 State changed at 6055090 From state POUTSTOP 19:54:31 NORMALMOWING / POUTSTOP Dir 1 State changed at 6054203 From state FRWODO 19:54:31 Perimeter trigger at : 6054203 19:53:51 NORMALMOWING / FRWODO Dir 1 State changed at 6014240 From state POUTFOR 19:53:50 NORMALMOWING / POUTFOR Dir 1 State changed at 6012859 From state POUTROLL 19:53:49 NORMALMOWING / POUTROLL Dir 1 State changed at 6011718 From state POUTREV 19:53:47 NORMALMOWING / POUTREV Dir 1 State changed at 6009868 From state POUTSTOP 19:53:46 Timer 2 startmin 1084 stopmin 1351 currmin 1193 19:53:46 checktimer 19:53:46 NORMALMOWING / POUTSTOP Dir 1 State changed at 6008861 From state FRWODO 19:53:46 Perimeter trigger at : 6008861 19:53:07 NORMALMOWING / FRWODO Dir 1 State changed at 5970588 From state POUTFOR 19:53:06 NORMALMOWING / POUTFOR Dir 1 State changed at 5969184 From state POUTROLL 19:53:05 NORMALMOWING / POUTROLL Dir 1 State changed at 5968566 From state POUTREV 19:53:04 NORMALMOWING / POUTREV Dir 1 State changed at 5966850 From state POUTSTOP 19:53:03 NORMALMOWING / POUTSTOP Dir 1 State changed at 5965631 From state FRWODO 19:53:03 Perimeter trigger at : 5965631 19:52:44 NORMALMOWING / FRWODO Dir 1 State changed at 5946857 From state POUTFOR 19:52:42 NORMALMOWING / POUTFOR Dir 1 State changed at 5945502 From state POUTROLL 19:52:40 NORMALMOWING / POUTROLL Dir 1 State changed at 5943517 From state POUTREV 19:52:39 NORMALMOWING / POUTREV Dir 1 State changed at 5941618 From state POUTSTOP 19:52:38 Timer 2 startmin 1084 stopmin 1351 currmin 1192 19:52:38 checktimer 19:52:38 NORMALMOWING / POUTSTOP Dir 1 State changed at 5940706 From state FRWODO 19:52:38 Perimeter trigger at : 5940706 19:52:19 NORMALMOWING / FRWODO Dir 1 State changed at 5921803 From state POUTFOR 19:52:17 NORMALMOWING / POUTFOR Dir 1 State changed at 5920520 From state POUTROLL 19:52:16 NORMALMOWING / POUTROLL Dir 1 State changed at 5919498 From state POUTREV 19:52:15 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 19:52:15 NORMALMOWING / POUTREV Dir 1 State changed at 5917799 From state POUTSTOP 19:52:14 Warning can t peri out stop in time 19:52:11 NORMALMOWING / POUTSTOP Dir 1 State changed at 5913744 From state FRWODO 19:52:11 Perimeter trigger at : 5913744 19:52:00 NORMALMOWING / FRWODO Dir 1 State changed at 5903522 From state POUTFOR 19:51:59 NORMALMOWING / POUTFOR Dir 1 State changed at 5902104 From state POUTROLL 19:51:57 NORMALMOWING / POUTROLL Dir 1 State changed at 5900471 From state POUTREV 19:51:55 NORMALMOWING / POUTREV Dir 1 State changed at 5898381 From state POUTSTOP 19:51:54 NORMALMOWING / POUTSTOP Dir 1 State changed at 5897543 From state FRWODO 19:51:54 Perimeter trigger at : 5897543 19:51:47 NORMALMOWING / FRWODO Dir 1 State changed at 5889874 From state POUTFOR 19:51:45 NORMALMOWING / POUTFOR Dir 1 State changed at 5888606 From state POUTROLL 19:51:44 NORMALMOWING / POUTROLL Dir 1 State changed at 5887560 From state POUTREV 19:51:43 NORMALMOWING / POUTREV Dir 1 State changed at 5885860 From state POUTSTOP 19:51:42 NORMALMOWING / POUTSTOP Dir 1 State changed at 5884680 From state FRWODO 19:51:42 Perimeter trigger at : 5884680 19:51:36 NORMALMOWING / FRWODO Dir 1 State changed at 5878977 From state POUTFOR 19:51:34 NORMALMOWING / POUTFOR Dir 1 State changed at 5877601 From state POUTROLL 19:51:33 NORMALMOWING / POUTROLL Dir 1 State changed at 5876595 From state POUTREV 19:51:32 NORMALMOWING / POUTREV Dir 1 State changed at 5874747 From state POUTSTOP 19:51:31 Timer 2 startmin 1084 stopmin 1351 currmin 1191 19:51:31 checktimer 19:51:31 NORMALMOWING / POUTSTOP Dir 1 State changed at 5873924 From state FRWODO 19:51:31 Perimeter trigger at : 5873924 19:50:28 NORMALMOWING / FRWODO Dir 1 State changed at 5811499 From state POUTFOR 19:50:27 NORMALMOWING / POUTFOR Dir 1 State changed at 5810074 From state POUTROLL 19:50:26 NORMALMOWING / POUTROLL Dir 1 State changed at 5808923 From state POUTREV 19:50:24 NORMALMOWING / POUTREV Dir 1 State changed at 5806864 From state POUTSTOP 19:50:23 NORMALMOWING / POUTSTOP Dir 1 State changed at 5805992 From state FRWODO 19:50:23 Perimeter trigger at : 5805992 19:50:18 NORMALMOWING / FRWODO Dir 1 State changed at 5800739 From state POUTFOR 19:50:16 NORMALMOWING / POUTFOR Dir 1 State changed at 5799375 From state POUTROLL 19:50:16 NORMALMOWING / POUTROLL Dir 1 State changed at 5798685 From state POUTREV 19:50:14 NORMALMOWING / POUTREV Dir 1 State changed at 5796791 From state POUTSTOP 19:50:13 Timer 2 startmin 1084 stopmin 1351 currmin 1190 19:50:13 checktimer 19:50:13 NORMALMOWING / POUTSTOP Dir 1 State changed at 5795755 From state FRWODO 19:50:13 Perimeter trigger at : 5795755 19:50:01 5784318 Rotation direction Left / Right change 19:50:01 NORMALMOWING / FRWODO Dir 0 State changed at 5784318 From state POUTFOR 19:50:00 NORMALMOWING / POUTFOR Dir 0 State changed at 5782878 From state POUTROLL 19:49:58 NORMALMOWING / POUTROLL Dir 0 State changed at 5781302 From state POUTREV 19:49:56 NORMALMOWING / POUTREV Dir 0 State changed at 5779291 From state POUTSTOP 19:49:55 NORMALMOWING / POUTSTOP Dir 0 State changed at 5778446 From state FRWODO 19:49:55 mowPatternCurr change 19:49:55 Perimeter trigger at : 5778446 19:49:42 NORMALMOWING / FRWODO Dir 0 State changed at 5764835 From state AUTOCALIB 19:49:42 OK next state out rev 19:49:42 4 sec of read value, verify if the drift is stop 19:49:38 Drift not Stop wait again 4 sec 19:49:38 4 sec of read value, verify if the drift is stop 19:49:33 NORMALMOWING / AUTOCALIB Dir 0 State changed at 5756165 From state STOPCALIB 19:49:32 NORMALMOWING / STOPCALIB Dir 0 State changed at 5755574 From state ROLLTOFINDYAW 19:49:31 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 5754347 From state FINDYAWSTOP 19:49:31 >>> >>> >>> >>> >>> >>> 0 19:49:31 imu.comYaw 66.91 imu.ypr.yaw 79.88 distancePI(imu.comYaw, imu.ypr.yaw) 0.13 19:49:30 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 5753418 From state FRWODO 19:49:26 NORMALMOWING / FRWODO Dir 0 State changed at 5749417 From state LANEROL2 19:49:24 NORMALMOWING / LANEROL2 Dir 1 State changed at 5747515 From state NEXTLANE 19:49:23 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:49:23 NORMALMOWING / NEXTLANE Dir 1 State changed at 5745755 From state LANEROL1 19:49:23 Warning can t Roll1 by lane in time 19:49:16 NORMALMOWING / LANEROL1 Dir 1 State changed at 5739357 From state POUTREV 19:49:14 NORMALMOWING / POUTREV Dir 1 State changed at 5737475 From state POUTSTOP 19:49:13 Timer 2 startmin 1084 stopmin 1351 currmin 1189 19:49:13 checktimer 19:49:13 NORMALMOWING / POUTSTOP Dir 1 State changed at 5736486 From state FRWODO 19:49:13 Perimeter trigger at : 5736486 19:48:54 NORMALMOWING / FRWODO Dir 0 State changed at 5716727 From state LANEROL2 19:48:52 NORMALMOWING / LANEROL2 Dir 0 State changed at 5715417 From state NEXTLANE 19:48:50 NORMALMOWING / NEXTLANE Dir 0 State changed at 5713195 From state LANEROL1 19:48:46 NORMALMOWING / LANEROL1 Dir 0 State changed at 5709313 From state POUTREV 19:48:44 NORMALMOWING / POUTREV Dir 0 State changed at 5706736 From state POUTSTOP 19:48:43 NORMALMOWING / POUTSTOP Dir 0 State changed at 5705880 From state FRWODO 19:48:43 Perimeter trigger at : 5705880 19:48:23 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=159 On state FRWODO 19:48:23 NORMALMOWING / FRWODO Dir 0 State changed at 5686035 From state LANEROL2 19:48:23 Warning can t make the roll2 in time 19:48:19 NORMALMOWING / LANEROL2 Dir 1 State changed at 5681941 From state NEXTLANE 19:48:17 NORMALMOWING / NEXTLANE Dir 1 State changed at 5679794 From state LANEROL1 19:48:13 NORMALMOWING / LANEROL1 Dir 1 State changed at 5675819 From state POUTREV 19:48:11 NORMALMOWING / POUTREV Dir 1 State changed at 5673681 From state POUTSTOP 19:48:10 Timer 2 startmin 1084 stopmin 1351 currmin 1188 19:48:10 checktimer 19:48:10 NORMALMOWING / POUTSTOP Dir 1 State changed at 5672602 From state FRWODO 19:48:09 Perimeter trigger at : 5672602 19:47:47 NORMALMOWING / FRWODO Dir 0 State changed at 5650332 From state LANEROL2 19:47:46 NORMALMOWING / LANEROL2 Dir 0 State changed at 5649116 From state NEXTLANE 19:47:44 NORMALMOWING / NEXTLANE Dir 0 State changed at 5647009 From state LANEROL1 19:47:40 NORMALMOWING / LANEROL1 Dir 0 State changed at 5642960 From state POUTREV 19:47:38 NORMALMOWING / POUTREV Dir 0 State changed at 5640664 From state POUTSTOP 19:47:37 NORMALMOWING / POUTSTOP Dir 0 State changed at 5639845 From state FRWODO 19:47:37 Perimeter trigger at : 5639845 19:47:15 NORMALMOWING / FRWODO Dir 0 State changed at 5617897 From state LANEROL2 19:47:13 NORMALMOWING / LANEROL2 Dir 1 State changed at 5615757 From state NEXTLANE 19:47:10 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:47:10 NORMALMOWING / NEXTLANE Dir 1 State changed at 5613588 From state LANEROL1 19:47:10 Warning can t Roll1 by lane in time 19:47:04 NORMALMOWING / LANEROL1 Dir 1 State changed at 5607191 From state POUTREV 19:47:02 NORMALMOWING / POUTREV Dir 1 State changed at 5605076 From state POUTSTOP 19:47:01 Timer 2 startmin 1084 stopmin 1351 currmin 1187 19:47:01 checktimer 19:47:01 NORMALMOWING / POUTSTOP Dir 1 State changed at 5604156 From state FRWODO 19:47:01 Perimeter trigger at : 5604156 19:46:36 NORMALMOWING / FRWODO Dir 0 State changed at 5579431 From state LANEROL2 19:46:35 NORMALMOWING / LANEROL2 Dir 0 State changed at 5578070 From state NEXTLANE 19:46:33 NORMALMOWING / NEXTLANE Dir 0 State changed at 5575746 From state LANEROL1 19:46:29 NORMALMOWING / LANEROL1 Dir 0 State changed at 5572008 From state POUTREV 19:46:26 NORMALMOWING / POUTREV Dir 0 State changed at 5569467 From state POUTSTOP 19:46:26 NORMALMOWING / POUTSTOP Dir 0 State changed at 5568648 From state FRWODO 19:46:26 Perimeter trigger at : 5568648 19:46:01 NORMALMOWING / FRWODO Dir 0 State changed at 5544019 From state LANEROL2 19:45:59 NORMALMOWING / LANEROL2 Dir 1 State changed at 5542032 From state NEXTLANE 19:45:57 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:45:57 NORMALMOWING / NEXTLANE Dir 1 State changed at 5540120 From state LANEROL1 19:45:57 Warning can t Roll1 by lane in time 19:45:51 NORMALMOWING / LANEROL1 Dir 1 State changed at 5533723 From state POUTREV 19:45:48 NORMALMOWING / POUTREV Dir 1 State changed at 5531463 From state POUTSTOP 19:45:47 Timer 2 startmin 1084 stopmin 1351 currmin 1185 19:45:47 checktimer 19:45:47 NORMALMOWING / POUTSTOP Dir 1 State changed at 5530423 From state FRWODO 19:45:47 Perimeter trigger at : 5530423 19:45:32 NORMALMOWING / FRWODO Dir 0 State changed at 5515202 From state LANEROL2 19:45:31 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 19:45:31 NORMALMOWING / LANEROL2 Dir 0 State changed at 5513910 From state NEXTLANE 19:45:31 Warning can t reach next lane in time 19:45:26 NORMALMOWING / NEXTLANE Dir 0 State changed at 5508934 From state LANEROL1 19:45:22 NORMALMOWING / LANEROL1 Dir 0 State changed at 5505076 From state POUTREV 19:45:20 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=55 pwmRight=-48 On state POUTREV 19:45:20 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=52 pwmLeft=-48 state POUTREV 19:45:20 NORMALMOWING / POUTREV Dir 0 State changed at 5503316 From state SONARTRIG 19:45:20 Warning can t sonar trig in time 19:45:15 NORMALMOWING / SONARTRIG Dir 0 State changed at 5498357 From state FRWODO 19:45:15 Sonar Left Trigger at cm : 67 19:45:00 NORMALMOWING / FRWODO Dir 0 State changed at 5482802 From state LANEROL2 19:44:58 NORMALMOWING / LANEROL2 Dir 1 State changed at 5481000 From state NEXTLANE 19:44:55 NORMALMOWING / NEXTLANE Dir 1 State changed at 5478598 From state LANEROL1 19:44:51 NORMALMOWING / LANEROL1 Dir 1 State changed at 5474587 From state POUTREV 19:44:49 NORMALMOWING / POUTREV Dir 1 State changed at 5472439 From state POUTSTOP 19:44:48 NORMALMOWING / POUTSTOP Dir 1 State changed at 5471431 From state FRWODO 19:44:48 Perimeter trigger at : 5471431 19:44:18 NORMALMOWING / FRWODO Dir 0 State changed at 5441163 From state LANEROL2 19:44:16 NORMALMOWING / LANEROL2 Dir 0 State changed at 5439421 From state NEXTLANE 19:44:14 NORMALMOWING / NEXTLANE Dir 0 State changed at 5437249 From state LANEROL1 19:44:10 NORMALMOWING / LANEROL1 Dir 0 State changed at 5433395 From state POUTREV 19:44:08 NORMALMOWING / POUTREV Dir 0 State changed at 5431152 From state POUTSTOP 19:44:07 Timer 2 startmin 1084 stopmin 1351 currmin 1184 19:44:07 checktimer 19:44:07 NORMALMOWING / POUTSTOP Dir 0 State changed at 5430346 From state FRWODO 19:44:07 Perimeter trigger at : 5430346 19:43:39 NORMALMOWING / FRWODO Dir 0 State changed at 5401695 From state LANEROL2 19:43:37 NORMALMOWING / LANEROL2 Dir 1 State changed at 5399777 From state NEXTLANE 19:43:35 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:43:35 NORMALMOWING / NEXTLANE Dir 1 State changed at 5397832 From state LANEROL1 19:43:35 Warning can t Roll1 by lane in time 19:43:28 NORMALMOWING / LANEROL1 Dir 1 State changed at 5391434 From state POUTREV 19:43:26 NORMALMOWING / POUTREV Dir 1 State changed at 5389289 From state POUTSTOP 19:43:25 NORMALMOWING / POUTSTOP Dir 1 State changed at 5388215 From state FRWODO 19:43:25 Perimeter trigger at : 5388215 19:42:53 NORMALMOWING / FRWODO Dir 0 State changed at 5355861 From state LANEROL2 19:42:52 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 19:42:52 NORMALMOWING / LANEROL2 Dir 0 State changed at 5354682 From state NEXTLANE 19:42:52 Warning can t reach next lane in time 19:42:47 NORMALMOWING / NEXTLANE Dir 0 State changed at 5349704 From state LANEROL1 19:42:43 NORMALMOWING / LANEROL1 Dir 0 State changed at 5345973 From state POUTREV 19:42:41 NORMALMOWING / POUTREV Dir 0 State changed at 5343793 From state POUTSTOP 19:42:40 Timer 2 startmin 1084 stopmin 1351 currmin 1182 19:42:40 checktimer 19:42:40 NORMALMOWING / POUTSTOP Dir 0 State changed at 5342944 From state FRWODO 19:42:40 Perimeter trigger at : 5342944 19:42:14 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=159 state FRWODO 19:42:14 NORMALMOWING / FRWODO Dir 0 State changed at 5317243 From state AUTOCALIB 19:42:14 OK next state out rev 19:42:14 4 sec of read value, verify if the drift is stop 19:42:10 NORMALMOWING / AUTOCALIB Dir 0 State changed at 5312706 From state STOPCALIB 19:42:10 Warning can t stop to calibrate in time 19:41:16 NORMALMOWING / STOPCALIB Dir 0 State changed at 5258708 From state ROLLTOFINDYAW 19:41:15 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 5258339 From state FINDYAWSTOP 19:41:15 <<< <<< <<< <<< <<< << 0 19:41:15 imu.comYaw 82.93 imu.ypr.yaw 74.57 distancePI(imu.comYaw, imu.ypr.yaw) -0.08 19:41:14 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 5257407 From state FRWODO 19:41:10 NORMALMOWING / FRWODO Dir 0 State changed at 5253405 From state LANEROL2 19:41:09 NORMALMOWING / LANEROL2 Dir 1 State changed at 5251663 From state NEXTLANE 19:41:07 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:41:07 NORMALMOWING / NEXTLANE Dir 1 State changed at 5249723 From state LANEROL1 19:41:07 Warning can t Roll1 by lane in time 19:41:00 NORMALMOWING / LANEROL1 Dir 1 State changed at 5243331 From state POUTREV 19:40:58 NORMALMOWING / POUTREV Dir 1 State changed at 5241343 From state POUTSTOP 19:40:57 NORMALMOWING / POUTSTOP Dir 1 State changed at 5240245 From state FRWODO 19:40:57 Perimeter trigger at : 5240245 19:40:22 NORMALMOWING / FRWODO Dir 0 State changed at 5205627 From state LANEROL2 19:40:21 NORMALMOWING / LANEROL2 Dir 0 State changed at 5204126 From state NEXTLANE 19:40:19 NORMALMOWING / NEXTLANE Dir 0 State changed at 5202032 From state LANEROL1 19:40:15 NORMALMOWING / LANEROL1 Dir 0 State changed at 5197838 From state POUTREV 19:40:12 NORMALMOWING / POUTREV Dir 0 State changed at 5195430 From state POUTSTOP 19:40:12 Timer 2 startmin 1084 stopmin 1351 currmin 1180 19:40:11 checktimer 19:40:11 NORMALMOWING / POUTSTOP Dir 0 State changed at 5194600 From state FRWODO 19:40:11 Perimeter trigger at : 5194600 19:39:39 NORMALMOWING / FRWODO Dir 0 State changed at 5161816 From state LANEROL2 19:39:36 NORMALMOWING / LANEROL2 Dir 1 State changed at 5159672 From state NEXTLANE 19:39:34 NORMALMOWING / NEXTLANE Dir 1 State changed at 5157645 From state LANEROL1 19:39:30 NORMALMOWING / LANEROL1 Dir 1 State changed at 5153122 From state POUTREV 19:39:28 NORMALMOWING / POUTREV Dir 1 State changed at 5150748 From state POUTSTOP 19:39:27 NORMALMOWING / POUTSTOP Dir 1 State changed at 5149714 From state FRWODO 19:39:27 Perimeter trigger at : 5149714 19:38:49 NORMALMOWING / FRWODO Dir 0 State changed at 5112257 From state LANEROL2 19:38:48 NORMALMOWING / LANEROL2 Dir 0 State changed at 5111013 From state NEXTLANE 19:38:46 NORMALMOWING / NEXTLANE Dir 0 State changed at 5108776 From state LANEROL1 19:38:42 NORMALMOWING / LANEROL1 Dir 0 State changed at 5105129 From state POUTREV 19:38:40 NORMALMOWING / POUTREV Dir 0 State changed at 5102906 From state POUTSTOP 19:38:39 Timer 2 startmin 1084 stopmin 1351 currmin 1178 19:38:39 checktimer 19:38:39 NORMALMOWING / POUTSTOP Dir 0 State changed at 5102055 From state FRWODO 19:38:39 Perimeter trigger at : 5102055 19:38:04 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=80 On state FRWODO 19:38:04 NORMALMOWING / FRWODO Dir 0 State changed at 5066975 From state LANEROL2 19:38:04 Warning can t make the roll2 in time 19:38:00 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state LANEROL2 19:38:00 NORMALMOWING / LANEROL2 Dir 1 State changed at 5062996 From state NEXTLANE 19:38:00 Warning can t reach next lane in time 19:37:55 NORMALMOWING / NEXTLANE Dir 1 State changed at 5058020 From state LANEROL1 19:37:51 NORMALMOWING / LANEROL1 Dir 1 State changed at 5053692 From state POUTREV 19:37:48 NORMALMOWING / POUTREV Dir 1 State changed at 5051597 From state POUTSTOP 19:37:47 NORMALMOWING / POUTSTOP Dir 1 State changed at 5050562 From state FRWODO 19:37:47 Perimeter trigger at : 5050562 19:37:07 NORMALMOWING / FRWODO Dir 0 State changed at 5010384 From state LANEROL2 19:37:06 NORMALMOWING / LANEROL2 Dir 0 State changed at 5009156 From state NEXTLANE 19:37:04 NORMALMOWING / NEXTLANE Dir 0 State changed at 5007247 From state LANEROL1 19:37:00 NORMALMOWING / LANEROL1 Dir 0 State changed at 5003515 From state POUTREV 19:36:58 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 253 19:36:58 NORMALMOWING / POUTREV Dir 0 State changed at 5001301 From state POUTSTOP 19:36:57 Timer 2 startmin 1084 stopmin 1351 currmin 1177 19:36:57 checktimer 19:36:57 NORMALMOWING / POUTSTOP Dir 0 State changed at 5000388 From state FRWODO 19:36:57 Perimeter trigger at : 5000388 19:36:20 NORMALMOWING / FRWODO Dir 0 State changed at 4963667 From state LANEROL2 19:36:19 NORMALMOWING / LANEROL2 Dir 1 State changed at 4961884 From state NEXTLANE 19:36:17 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:36:17 NORMALMOWING / NEXTLANE Dir 1 State changed at 4959921 From state LANEROL1 19:36:17 Warning can t Roll1 by lane in time 19:36:10 NORMALMOWING / LANEROL1 Dir 1 State changed at 4953536 From state POUTREV 19:36:08 NORMALMOWING / POUTREV Dir 1 State changed at 4951496 From state POUTSTOP 19:36:07 NORMALMOWING / POUTSTOP Dir 1 State changed at 4950494 From state FRWODO 19:36:07 Perimeter trigger at : 4950494 19:35:26 NORMALMOWING / FRWODO Dir 0 State changed at 4908853 From state LANEROL2 19:35:24 NORMALMOWING / LANEROL2 Dir 0 State changed at 4907682 From state NEXTLANE 19:35:22 NORMALMOWING / NEXTLANE Dir 0 State changed at 4905502 From state LANEROL1 19:35:18 NORMALMOWING / LANEROL1 Dir 0 State changed at 4901681 From state POUTREV 19:35:16 NORMALMOWING / POUTREV Dir 0 State changed at 4899244 From state POUTSTOP 19:35:15 Timer 2 startmin 1084 stopmin 1351 currmin 1175 19:35:15 checktimer 19:35:15 NORMALMOWING / POUTSTOP Dir 0 State changed at 4898406 From state FRWODO 19:35:15 Perimeter trigger at : 4898406 19:34:41 NORMALMOWING / FRWODO Dir 0 State changed at 4864119 From state AUTOCALIB 19:34:41 OK next state out rev 19:34:41 4 sec of read value, verify if the drift is stop 19:34:36 NORMALMOWING / AUTOCALIB Dir 0 State changed at 4859562 From state STOPCALIB 19:34:36 Warning can t stop to calibrate in time 19:33:42 NORMALMOWING / STOPCALIB Dir 0 State changed at 4805564 From state ROLLTOFINDYAW 19:33:42 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 4804998 From state FINDYAWSTOP 19:33:42 >>> >>> >>> >>> >>> >>> 0 19:33:42 imu.comYaw 70.26 imu.ypr.yaw 75.62 distancePI(imu.comYaw, imu.ypr.yaw) 0.05 19:33:41 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 4803870 From state FRWODO 19:33:37 NORMALMOWING / FRWODO Dir 0 State changed at 4799869 From state LANEROL2 19:33:35 NORMALMOWING / LANEROL2 Dir 1 State changed at 4797738 From state NEXTLANE 19:33:32 NORMALMOWING / NEXTLANE Dir 1 State changed at 4795585 From state LANEROL1 19:33:28 NORMALMOWING / LANEROL1 Dir 1 State changed at 4790960 From state POUTREV 19:33:26 NORMALMOWING / POUTREV Dir 1 State changed at 4788873 From state POUTSTOP 19:33:25 Timer 2 startmin 1084 stopmin 1351 currmin 1173 19:33:25 checktimer 19:33:25 NORMALMOWING / POUTSTOP Dir 1 State changed at 4787704 From state FRWODO 19:33:24 Perimeter trigger at : 4787704 19:32:42 NORMALMOWING / FRWODO Dir 0 State changed at 4745315 From state LANEROL2 19:32:41 NORMALMOWING / LANEROL2 Dir 0 State changed at 4743865 From state NEXTLANE 19:32:39 NORMALMOWING / NEXTLANE Dir 0 State changed at 4741763 From state LANEROL1 19:32:35 NORMALMOWING / LANEROL1 Dir 0 State changed at 4738314 From state POUTREV 19:32:33 NORMALMOWING / POUTREV Dir 0 State changed at 4736058 From state POUTSTOP 19:32:32 NORMALMOWING / POUTSTOP Dir 0 State changed at 4735217 From state FRWODO 19:32:32 Perimeter trigger at : 4735217 19:31:54 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=159 On state FRWODO 19:31:54 NORMALMOWING / FRWODO Dir 0 State changed at 4697054 From state LANEROL2 19:31:54 Warning can t make the roll2 in time 19:31:50 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state LANEROL2 19:31:50 NORMALMOWING / LANEROL2 Dir 1 State changed at 4693009 From state NEXTLANE 19:31:50 Warning can t reach next lane in time 19:31:45 NORMALMOWING / NEXTLANE Dir 1 State changed at 4688031 From state LANEROL1 19:31:41 NORMALMOWING / LANEROL1 Dir 1 State changed at 4683933 From state POUTREV 19:31:38 NORMALMOWING / POUTREV Dir 1 State changed at 4681712 From state POUTSTOP 19:31:38 Timer 2 startmin 1084 stopmin 1351 currmin 1171 19:31:38 checktimer 19:31:38 NORMALMOWING / POUTSTOP Dir 1 State changed at 4680720 From state FRWODO 19:31:38 Perimeter trigger at : 4680720 19:31:06 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=79 state FRWODO 19:31:06 NORMALMOWING / FRWODO Dir 0 State changed at 4649335 From state LANEROL2 19:31:06 Warning can t make the roll2 in time 19:31:02 NORMALMOWING / LANEROL2 Dir 0 State changed at 4645240 From state NEXTLANE 19:31:00 NORMALMOWING / NEXTLANE Dir 0 State changed at 4642837 From state LANEROL1 19:30:56 NORMALMOWING / LANEROL1 Dir 0 State changed at 4639354 From state POUTREV 19:30:54 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state POUTREV 19:30:54 NORMALMOWING / POUTREV Dir 0 State changed at 4637482 From state SONARTRIG 19:30:54 Warning can t sonar trig in time 19:30:49 NORMALMOWING / SONARTRIG Dir 0 State changed at 4632570 From state FRWODO 19:30:49 Sonar Left Trigger at cm : 66 19:30:21 NORMALMOWING / FRWODO Dir 0 State changed at 4604483 From state LANEROL2 19:30:20 NORMALMOWING / LANEROL2 Dir 1 State changed at 4602892 From state NEXTLANE 19:30:17 NORMALMOWING / NEXTLANE Dir 1 State changed at 4600687 From state LANEROL1 19:30:13 NORMALMOWING / LANEROL1 Dir 1 State changed at 4596275 From state POUTREV 19:30:11 NORMALMOWING / POUTREV Dir 1 State changed at 4594370 From state POUTSTOP 19:30:10 Timer 2 startmin 1084 stopmin 1351 currmin 1170 19:30:10 checktimer 19:30:10 NORMALMOWING / POUTSTOP Dir 1 State changed at 4593374 From state FRWODO 19:30:10 Perimeter trigger at : 4593374 19:29:28 NORMALMOWING / FRWODO Dir 0 State changed at 4550812 From state LANEROL2 19:29:26 NORMALMOWING / LANEROL2 Dir 0 State changed at 4549554 From state NEXTLANE 19:29:24 NORMALMOWING / NEXTLANE Dir 0 State changed at 4547457 From state LANEROL1 19:29:21 NORMALMOWING / LANEROL1 Dir 0 State changed at 4543935 From state POUTREV 19:29:18 NORMALMOWING / POUTREV Dir 0 State changed at 4541540 From state POUTSTOP 19:29:17 NORMALMOWING / POUTSTOP Dir 0 State changed at 4540626 From state FRWODO 19:29:17 Perimeter trigger at : 4540626 19:29:12 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=159 On state FRWODO 19:29:12 NORMALMOWING / FRWODO Dir 0 State changed at 4535500 From state LANEROL2 19:29:12 Warning can t make the roll2 in time 19:29:08 NORMALMOWING / LANEROL2 Dir 1 State changed at 4531404 From state NEXTLANE 19:29:06 NORMALMOWING / NEXTLANE Dir 1 State changed at 4529568 From state LANEROL1 19:29:03 NORMALMOWING / LANEROL1 Dir 1 State changed at 4526151 From state POUTREV 19:29:01 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 288 19:29:01 NORMALMOWING / POUTREV Dir 1 State changed at 4524480 From state STOPONBUMPER 19:29:01 NORMALMOWING / STOPONBUMPER Dir 1 State changed at 4524122 From state FRWODO 19:29:01 Motor Right current is 80 % of the max, value --> 24.56 19:28:53 NORMALMOWING / FRWODO Dir 1 State changed at 4516463 From state LANEROL2 19:28:52 NORMALMOWING / LANEROL2 Dir 0 State changed at 4515225 From state NEXTLANE 19:28:50 NORMALMOWING / NEXTLANE Dir 0 State changed at 4513213 From state LANEROL1 19:28:46 NORMALMOWING / LANEROL1 Dir 0 State changed at 4509456 From state POUTREV 19:28:44 NORMALMOWING / POUTREV Dir 0 State changed at 4507175 From state POUTSTOP 19:28:43 Timer 2 startmin 1084 stopmin 1351 currmin 1168 19:28:43 checktimer 19:28:43 NORMALMOWING / POUTSTOP Dir 0 State changed at 4506307 From state FRWODO 19:28:43 Perimeter trigger at : 4506307 19:28:06 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=69 On state FRWODO 19:28:06 NORMALMOWING / FRWODO Dir 1 State changed at 4468843 From state LANEROL2 19:28:06 Warning can t make the roll2 in time 19:28:01 NORMALMOWING / LANEROL2 Dir 1 State changed at 4464744 From state NEXTLANE 19:27:59 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:27:59 NORMALMOWING / NEXTLANE Dir 1 State changed at 4462352 From state LANEROL1 19:27:59 Warning can t Roll1 by lane in time 19:27:53 NORMALMOWING / LANEROL1 Dir 1 State changed at 4455955 From state POUTREV 19:27:51 NORMALMOWING / POUTREV Dir 1 State changed at 4453791 From state POUTSTOP 19:27:50 NORMALMOWING / POUTSTOP Dir 1 State changed at 4452854 From state FRWODO 19:27:50 Perimeter trigger at : 4452854 19:27:09 NORMALMOWING / FRWODO Dir 1 State changed at 4411801 From state LANEROL2 19:27:07 NORMALMOWING / LANEROL2 Dir 0 State changed at 4410626 From state NEXTLANE 19:27:05 NORMALMOWING / NEXTLANE Dir 0 State changed at 4408632 From state LANEROL1 19:27:01 NORMALMOWING / LANEROL1 Dir 0 State changed at 4404653 From state POUTREV 19:26:59 NORMALMOWING / POUTREV Dir 0 State changed at 4402115 From state POUTSTOP 19:26:58 Timer 2 startmin 1084 stopmin 1351 currmin 1167 19:26:58 checktimer 19:26:58 NORMALMOWING / POUTSTOP Dir 0 State changed at 4401176 From state FRWODO 19:26:58 Perimeter trigger at : 4401176 19:26:26 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=85 state FRWODO 19:26:25 NORMALMOWING / FRWODO Dir 0 State changed at 4368690 From state AUTOCALIB 19:26:25 OK next state out rev 19:26:25 4 sec of read value, verify if the drift is stop 19:26:21 NORMALMOWING / AUTOCALIB Dir 0 State changed at 4364130 From state STOPCALIB 19:26:21 Warning can t stop to calibrate in time 19:25:27 NORMALMOWING / STOPCALIB Dir 0 State changed at 4310132 From state ROLLTOFINDYAW 19:25:26 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 4309131 From state FINDYAWSTOP 19:25:26 <<< <<< <<< <<< <<< << 0 19:25:26 imu.comYaw 86.73 imu.ypr.yaw 80.28 distancePI(imu.comYaw, imu.ypr.yaw) -0.06 19:25:25 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 4308128 From state FRWODO 19:25:21 NORMALMOWING / FRWODO Dir 1 State changed at 4304125 From state LANEROL2 19:25:19 NORMALMOWING / LANEROL2 Dir 1 State changed at 4302408 From state NEXTLANE 19:25:17 NORMALMOWING / NEXTLANE Dir 1 State changed at 4299942 From state LANEROL1 19:25:13 NORMALMOWING / LANEROL1 Dir 1 State changed at 4296161 From state POUTREV 19:25:11 NORMALMOWING / POUTREV Dir 1 State changed at 4294168 From state POUTSTOP 19:25:10 NORMALMOWING / POUTSTOP Dir 1 State changed at 4293280 From state FRWODO 19:25:10 Perimeter trigger at : 4293280 19:24:30 NORMALMOWING / FRWODO Dir 1 State changed at 4252784 From state LANEROL2 19:24:28 NORMALMOWING / LANEROL2 Dir 0 State changed at 4251655 From state NEXTLANE 19:24:26 NORMALMOWING / NEXTLANE Dir 0 State changed at 4249702 From state LANEROL1 19:24:23 NORMALMOWING / LANEROL1 Dir 0 State changed at 4246039 From state POUTREV 19:24:21 NORMALMOWING / POUTREV Dir 0 State changed at 4243811 From state POUTSTOP 19:24:20 Timer 2 startmin 1084 stopmin 1351 currmin 1164 19:24:20 checktimer 19:24:20 NORMALMOWING / POUTSTOP Dir 0 State changed at 4242973 From state FRWODO 19:24:20 Perimeter trigger at : 4242973 19:23:45 NORMALMOWING / FRWODO Dir 1 State changed at 4208542 From state LANEROL2 19:23:44 NORMALMOWING / LANEROL2 Dir 1 State changed at 4206962 From state NEXTLANE 19:23:41 NORMALMOWING / NEXTLANE Dir 1 State changed at 4204731 From state LANEROL1 19:23:38 NORMALMOWING / LANEROL1 Dir 1 State changed at 4200846 From state POUTREV 19:23:35 NORMALMOWING / POUTREV Dir 1 State changed at 4198715 From state POUTSTOP 19:23:35 NORMALMOWING / POUTSTOP Dir 1 State changed at 4197799 From state FRWODO 19:23:35 Perimeter trigger at : 4197799 19:22:56 NORMALMOWING / FRWODO Dir 1 State changed at 4159595 From state LANEROL2 19:22:55 NORMALMOWING / LANEROL2 Dir 0 State changed at 4158385 From state NEXTLANE 19:22:53 NORMALMOWING / NEXTLANE Dir 0 State changed at 4156587 From state LANEROL1 19:22:50 NORMALMOWING / LANEROL1 Dir 0 State changed at 4152858 From state POUTREV 19:22:47 NORMALMOWING / POUTREV Dir 0 State changed at 4150771 From state POUTSTOP 19:22:47 Timer 2 startmin 1084 stopmin 1351 currmin 1162 19:22:47 checktimer 19:22:47 NORMALMOWING / POUTSTOP Dir 0 State changed at 4149848 From state FRWODO 19:22:47 Perimeter trigger at : 4149848 19:22:14 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=69 On state FRWODO 19:22:14 NORMALMOWING / FRWODO Dir 1 State changed at 4117480 From state LANEROL2 19:22:14 Warning can t make the roll2 in time 19:22:10 NORMALMOWING / LANEROL2 Dir 1 State changed at 4113386 From state NEXTLANE 19:22:08 NORMALMOWING / NEXTLANE Dir 1 State changed at 4111089 From state LANEROL1 19:22:04 NORMALMOWING / LANEROL1 Dir 1 State changed at 4107335 From state POUTREV 19:22:02 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 19:22:02 NORMALMOWING / POUTREV Dir 1 State changed at 4104997 From state POUTSTOP 19:22:01 Warning can t peri out stop in time 19:21:58 NORMALMOWING / POUTSTOP Dir 1 State changed at 4100934 From state FRWODO 19:21:58 Perimeter trigger at : 4100934 19:21:22 NORMALMOWING / FRWODO Dir 1 State changed at 4064982 From state LANEROL2 19:21:21 NORMALMOWING / LANEROL2 Dir 0 State changed at 4063808 From state NEXTLANE 19:21:19 NORMALMOWING / NEXTLANE Dir 0 State changed at 4061909 From state LANEROL1 19:21:14 NORMALMOWING / LANEROL1 Dir 0 State changed at 4057472 From state POUTREV 19:21:12 NORMALMOWING / POUTREV Dir 0 State changed at 4055470 From state POUTSTOP 19:21:11 Timer 2 startmin 1084 stopmin 1351 currmin 1161 19:21:11 checktimer 19:21:11 NORMALMOWING / POUTSTOP Dir 0 State changed at 4054662 From state FRWODO 19:21:11 Perimeter trigger at : 4054662 19:20:41 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=120 On state FRWODO 19:20:41 NORMALMOWING / FRWODO Dir 1 State changed at 4024727 From state LANEROL2 19:20:41 Warning can t make the roll2 in time 19:20:37 NORMALMOWING / LANEROL2 Dir 1 State changed at 4020633 From state NEXTLANE 19:20:35 NORMALMOWING / NEXTLANE Dir 1 State changed at 4017947 From state LANEROL1 19:20:30 NORMALMOWING / LANEROL1 Dir 1 State changed at 4013644 From state POUTREV 19:20:30 Warning can t peri out rev in time 19:20:25 NORMALMOWING / POUTREV Dir 1 State changed at 4008563 From state POUTSTOP 19:20:24 NORMALMOWING / POUTSTOP Dir 1 State changed at 4007520 From state FRWODO 19:20:24 Perimeter trigger at : 4007520 19:19:51 NORMALMOWING / FRWODO Dir 1 State changed at 3974336 From state LANEROL2 19:19:50 NORMALMOWING / LANEROL2 Dir 0 State changed at 3973090 From state NEXTLANE 19:19:48 NORMALMOWING / NEXTLANE Dir 0 State changed at 3971153 From state LANEROL1 19:19:44 NORMALMOWING / LANEROL1 Dir 0 State changed at 3967621 From state POUTREV 19:19:42 NORMALMOWING / POUTREV Dir 0 State changed at 3965557 From state POUTSTOP 19:19:42 Timer 2 startmin 1084 stopmin 1351 currmin 1159 19:19:42 checktimer 19:19:42 NORMALMOWING / POUTSTOP Dir 0 State changed at 3964775 From state FRWODO 19:19:41 Perimeter trigger at : 3964775 19:19:14 NORMALMOWING / FRWODO Dir 1 State changed at 3937384 From state LANEROL2 19:19:13 NORMALMOWING / LANEROL2 Dir 1 State changed at 3936077 From state NEXTLANE 19:19:11 NORMALMOWING / NEXTLANE Dir 1 State changed at 3934152 From state LANEROL1 19:19:07 NORMALMOWING / LANEROL1 Dir 1 State changed at 3930759 From state POUTREV 19:19:06 NORMALMOWING / POUTREV Dir 1 State changed at 3928821 From state POUTSTOP 19:19:04 NORMALMOWING / POUTSTOP Dir 1 State changed at 3927746 From state FRWODO 19:19:04 Perimeter trigger at : 3927746 19:18:34 NORMALMOWING / FRWODO Dir 1 State changed at 3897452 From state LANEROL2 19:18:33 NORMALMOWING / LANEROL2 Dir 0 State changed at 3896307 From state NEXTLANE 19:18:31 NORMALMOWING / NEXTLANE Dir 0 State changed at 3894318 From state LANEROL1 19:18:28 NORMALMOWING / LANEROL1 Dir 0 State changed at 3890817 From state POUTREV 19:18:28 Warning can t peri out rev in time 19:18:22 NORMALMOWING / POUTREV Dir 0 State changed at 3885734 From state POUTSTOP 19:18:22 Timer 2 startmin 1084 stopmin 1351 currmin 1158 19:18:22 checktimer 19:18:22 NORMALMOWING / POUTSTOP Dir 0 State changed at 3884929 From state FRWODO 19:18:22 Perimeter trigger at : 3884929 19:18:00 NORMALMOWING / FRWODO Dir 0 State changed at 3863281 From state AUTOCALIB 19:18:00 OK next state out rev 19:18:00 4 sec of read value, verify if the drift is stop 19:17:56 NORMALMOWING / AUTOCALIB Dir 0 State changed at 3858740 From state STOPCALIB 19:17:56 NORMALMOWING / STOPCALIB Dir 0 State changed at 3858736 From state ROLLTOFINDYAW 19:17:55 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 3858727 From state FINDYAWSTOP 19:17:55 >>> >>> >>> >>> >>> >>> 0 19:17:55 imu.comYaw 76.46 imu.ypr.yaw 75.62 distancePI(imu.comYaw, imu.ypr.yaw) -0.01 19:17:55 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 3857813 From state FRWODO 19:17:51 NORMALMOWING / FRWODO Dir 1 State changed at 3853809 From state LANEROL2 19:17:49 NORMALMOWING / LANEROL2 Dir 1 State changed at 3852553 From state NEXTLANE 19:17:47 NORMALMOWING / NEXTLANE Dir 1 State changed at 3850541 From state LANEROL1 19:17:44 NORMALMOWING / LANEROL1 Dir 1 State changed at 3847312 From state POUTREV 19:17:42 NORMALMOWING / POUTREV Dir 1 State changed at 3845313 From state POUTSTOP 19:17:41 NORMALMOWING / POUTSTOP Dir 1 State changed at 3844471 From state FRWODO 19:17:41 Perimeter trigger at : 3844471 19:17:12 NORMALMOWING / FRWODO Dir 1 State changed at 3815656 From state LANEROL2 19:17:11 NORMALMOWING / LANEROL2 Dir 0 State changed at 3814541 From state NEXTLANE 19:17:09 NORMALMOWING / NEXTLANE Dir 0 State changed at 3812679 From state LANEROL1 19:17:06 NORMALMOWING / LANEROL1 Dir 0 State changed at 3809201 From state POUTREV 19:17:04 NORMALMOWING / POUTREV Dir 0 State changed at 3806901 From state POUTSTOP 19:17:03 Timer 2 startmin 1084 stopmin 1351 currmin 1157 19:17:03 checktimer 19:17:03 NORMALMOWING / POUTSTOP Dir 0 State changed at 3806066 From state FRWODO 19:17:03 Perimeter trigger at : 3806066 19:16:39 NORMALMOWING / FRWODO Dir 1 State changed at 3782572 From state LANEROL2 19:16:38 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state LANEROL2 19:16:38 NORMALMOWING / LANEROL2 Dir 1 State changed at 3781412 From state NEXTLANE 19:16:38 Warning can t reach next lane in time 19:16:33 NORMALMOWING / NEXTLANE Dir 1 State changed at 3776434 From state LANEROL1 19:16:30 NORMALMOWING / LANEROL1 Dir 1 State changed at 3773027 From state POUTREV 19:16:28 NORMALMOWING / POUTREV Dir 1 State changed at 3771133 From state POUTSTOP 19:16:27 NORMALMOWING / POUTSTOP Dir 1 State changed at 3770260 From state FRWODO 19:16:27 Perimeter trigger at : 3770260 19:16:01 NORMALMOWING / FRWODO Dir 1 State changed at 3743863 From state LANEROL2 19:15:59 NORMALMOWING / LANEROL2 Dir 0 State changed at 3742557 From state NEXTLANE 19:15:57 NORMALMOWING / NEXTLANE Dir 0 State changed at 3740635 From state LANEROL1 19:15:54 NORMALMOWING / LANEROL1 Dir 0 State changed at 3736827 From state POUTREV 19:15:51 NORMALMOWING / POUTREV Dir 0 State changed at 3734597 From state POUTSTOP 19:15:51 NORMALMOWING / POUTSTOP Dir 0 State changed at 3733808 From state FRWODO 19:15:50 Perimeter trigger at : 3733808 19:15:48 NORMALMOWING / FRWODO Dir 1 State changed at 3731162 From state LANEROL2 19:15:46 NORMALMOWING / LANEROL2 Dir 1 State changed at 3729712 From state NEXTLANE 19:15:45 NORMALMOWING / NEXTLANE Dir 1 State changed at 3727934 From state LANEROL1 19:15:41 NORMALMOWING / LANEROL1 Dir 1 State changed at 3724402 From state POUTREV 19:15:39 NORMALMOWING / POUTREV Dir 1 State changed at 3722193 From state POUTSTOP 19:15:38 Timer 2 startmin 1084 stopmin 1351 currmin 1155 19:15:38 checktimer 19:15:38 NORMALMOWING / POUTSTOP Dir 1 State changed at 3721370 From state FRWODO 19:15:38 Perimeter trigger at : 3721370 19:15:12 NORMALMOWING / FRWODO Dir 1 State changed at 3695638 From state LANEROL2 19:15:11 NORMALMOWING / LANEROL2 Dir 0 State changed at 3694097 From state NEXTLANE 19:15:09 NORMALMOWING / NEXTLANE Dir 0 State changed at 3692460 From state LANEROL1 19:15:05 NORMALMOWING / LANEROL1 Dir 0 State changed at 3688616 From state POUTREV 19:15:03 NORMALMOWING / POUTREV Dir 0 State changed at 3686675 From state POUTSTOP 19:15:02 NORMALMOWING / POUTSTOP Dir 0 State changed at 3685764 From state FRWODO 19:15:02 Perimeter trigger at : 3685764 19:14:34 NORMALMOWING / FRWODO Dir 1 State changed at 3656831 From state LANEROL2 19:14:32 NORMALMOWING / LANEROL2 Dir 1 State changed at 3655515 From state NEXTLANE 19:14:30 NORMALMOWING / NEXTLANE Dir 1 State changed at 3653637 From state LANEROL1 19:14:27 NORMALMOWING / LANEROL1 Dir 1 State changed at 3650204 From state POUTREV 19:14:25 NORMALMOWING / POUTREV Dir 1 State changed at 3648041 From state POUTSTOP 19:14:24 Timer 2 startmin 1084 stopmin 1351 currmin 1154 19:14:24 checktimer 19:14:24 NORMALMOWING / POUTSTOP Dir 1 State changed at 3647265 From state FRWODO 19:14:24 Perimeter trigger at : 3647265 19:13:57 NORMALMOWING / FRWODO Dir 1 State changed at 3620051 From state LANEROL2 19:13:55 NORMALMOWING / LANEROL2 Dir 0 State changed at 3618556 From state NEXTLANE 19:13:54 NORMALMOWING / NEXTLANE Dir 0 State changed at 3616828 From state LANEROL1 19:13:49 NORMALMOWING / LANEROL1 Dir 0 State changed at 3612445 From state POUTREV 19:13:47 NORMALMOWING / POUTREV Dir 0 State changed at 3610551 From state POUTSTOP 19:13:46 NORMALMOWING / POUTSTOP Dir 0 State changed at 3609588 From state FRWODO 19:13:46 Perimeter trigger at : 3609588 19:13:16 NORMALMOWING / FRWODO Dir 1 State changed at 3579109 From state LANEROL2 19:13:15 NORMALMOWING / LANEROL2 Dir 1 State changed at 3578036 From state NEXTLANE 19:13:13 NORMALMOWING / NEXTLANE Dir 1 State changed at 3576185 From state LANEROL1 19:13:09 NORMALMOWING / LANEROL1 Dir 1 State changed at 3572785 From state POUTREV 19:13:07 NORMALMOWING / POUTREV Dir 1 State changed at 3570752 From state POUTSTOP 19:13:07 Timer 2 startmin 1084 stopmin 1351 currmin 1153 19:13:07 checktimer 19:13:07 NORMALMOWING / POUTSTOP Dir 1 State changed at 3569941 From state FRWODO 19:13:07 Perimeter trigger at : 3569941 19:12:38 NORMALMOWING / FRWODO Dir 1 State changed at 3541193 From state LANEROL2 19:12:36 NORMALMOWING / LANEROL2 Dir 0 State changed at 3539562 From state NEXTLANE 19:12:34 NORMALMOWING / NEXTLANE Dir 0 State changed at 3537819 From state LANEROL1 19:12:30 NORMALMOWING / LANEROL1 Dir 0 State changed at 3533555 From state POUTREV 19:12:28 NORMALMOWING / POUTREV Dir 0 State changed at 3531271 From state POUTSTOP 19:12:27 NORMALMOWING / POUTSTOP Dir 0 State changed at 3530275 From state FRWODO 19:12:27 Perimeter trigger at : 3530275 19:11:55 NORMALMOWING / FRWODO Dir 1 State changed at 3498060 From state LANEROL2 19:11:53 NORMALMOWING / LANEROL2 Dir 1 State changed at 3496793 From state NEXTLANE 19:11:52 NORMALMOWING / NEXTLANE Dir 1 State changed at 3494931 From state LANEROL1 19:11:48 NORMALMOWING / LANEROL1 Dir 1 State changed at 3491572 From state POUTREV 19:11:46 NORMALMOWING / POUTREV Dir 1 State changed at 3489594 From state POUTSTOP 19:11:46 Timer 2 startmin 1084 stopmin 1351 currmin 1151 19:11:46 checktimer 19:11:45 NORMALMOWING / POUTSTOP Dir 1 State changed at 3488791 From state FRWODO 19:11:45 Perimeter trigger at : 3488791 19:11:19 NORMALMOWING / FRWODO Dir 1 State changed at 3462753 From state AUTOCALIB 19:11:19 OK next state out rev 19:11:19 4 sec of read value, verify if the drift is stop 19:11:15 NORMALMOWING / AUTOCALIB Dir 1 State changed at 3458205 From state STOPCALIB 19:11:15 NORMALMOWING / STOPCALIB Dir 1 State changed at 3457872 From state ROLLTOFINDYAW 19:11:14 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 3457741 From state FINDYAWSTOP 19:11:14 >>> >>> >>> >>> >>> >>> 0 19:11:14 imu.comYaw 74.40 imu.ypr.yaw 74.00 distancePI(imu.comYaw, imu.ypr.yaw) -0.00 19:11:13 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 3456644 From state FRWODO 19:11:09 NORMALMOWING / FRWODO Dir 1 State changed at 3452643 From state LANEROL2 19:11:08 NORMALMOWING / LANEROL2 Dir 0 State changed at 3450973 From state NEXTLANE 19:11:06 NORMALMOWING / NEXTLANE Dir 0 State changed at 3448923 From state LANEROL1 19:11:01 NORMALMOWING / LANEROL1 Dir 0 State changed at 3444082 From state POUTREV 19:10:58 NORMALMOWING / POUTREV Dir 0 State changed at 3441533 From state POUTSTOP 19:10:57 NORMALMOWING / POUTSTOP Dir 0 State changed at 3440683 From state FRWODO 19:10:57 Perimeter trigger at : 3440683 19:10:24 NORMALMOWING / FRWODO Dir 1 State changed at 3407065 From state LANEROL2 19:10:22 NORMALMOWING / LANEROL2 Dir 1 State changed at 3405689 From state NEXTLANE 19:10:21 NORMALMOWING / NEXTLANE Dir 1 State changed at 3403903 From state LANEROL1 19:10:17 NORMALMOWING / LANEROL1 Dir 1 State changed at 3400539 From state POUTREV 19:10:15 NORMALMOWING / POUTREV Dir 1 State changed at 3398597 From state POUTSTOP 19:10:14 Timer 2 startmin 1084 stopmin 1351 currmin 1150 19:10:14 checktimer 19:10:14 NORMALMOWING / POUTSTOP Dir 1 State changed at 3397754 From state FRWODO 19:10:14 Perimeter trigger at : 3397754 19:10:04 Bad reading perimeter In/Out, certainly we are very far the wire 19:09:43 NORMALMOWING / FRWODO Dir 1 State changed at 3365961 From state LANEROL2 19:09:40 NORMALMOWING / LANEROL2 Dir 0 State changed at 3363362 From state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-1 pwmLeft=73 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-2 pwmLeft=67 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-3 pwmLeft=64 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-4 pwmLeft=61 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-5 pwmLeft=58 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-6 pwmLeft=58 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-7 pwmLeft=55 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-8 pwmLeft=52 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-9 pwmLeft=49 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-10 pwmLeft=48 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-11 pwmLeft=48 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-12 pwmLeft=48 state NEXTLANE 19:09:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-13 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-15 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-17 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-19 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-21 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-24 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-26 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-29 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-32 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-35 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-39 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-43 pwmLeft=48 state NEXTLANE 19:09:38 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 19:09:38 NORMALMOWING / NEXTLANE Dir 0 State changed at 3361420 From state LANEROL1 19:09:38 Warning can t Roll1 by lane in time 19:09:32 NORMALMOWING / LANEROL1 Dir 0 State changed at 3355020 From state POUTREV 19:09:29 NORMALMOWING / POUTREV Dir 0 State changed at 3352849 From state POUTSTOP 19:09:29 NORMALMOWING / POUTSTOP Dir 0 State changed at 3351992 From state FRWODO 19:09:29 Perimeter trigger at : 3351992 19:08:53 NORMALMOWING / FRWODO Dir 1 State changed at 3316517 From state LANEROL2 19:08:52 NORMALMOWING / LANEROL2 Dir 1 State changed at 3315279 From state NEXTLANE 19:08:50 NORMALMOWING / NEXTLANE Dir 1 State changed at 3313451 From state LANEROL1 19:08:47 NORMALMOWING / LANEROL1 Dir 1 State changed at 3309967 From state POUTREV 19:08:44 NORMALMOWING / POUTREV Dir 1 State changed at 3307760 From state POUTSTOP 19:08:44 Timer 2 startmin 1084 stopmin 1351 currmin 1148 19:08:44 checktimer 19:08:44 NORMALMOWING / POUTSTOP Dir 1 State changed at 3306944 From state FRWODO 19:08:44 Perimeter trigger at : 3306944 19:08:10 NORMALMOWING / FRWODO Dir 1 State changed at 3273395 From state LANEROL2 19:08:07 NORMALMOWING / LANEROL2 Dir 0 State changed at 3270421 From state NEXTLANE 19:08:05 NORMALMOWING / NEXTLANE Dir 0 State changed at 3268534 From state LANEROL1 19:08:01 NORMALMOWING / LANEROL1 Dir 0 State changed at 3264164 From state POUTREV 19:07:59 NORMALMOWING / POUTREV Dir 0 State changed at 3261978 From state POUTSTOP 19:07:58 NORMALMOWING / POUTSTOP Dir 0 State changed at 3261149 From state FRWODO 19:07:58 Perimeter trigger at : 3261149 19:07:20 NORMALMOWING / FRWODO Dir 1 State changed at 3223617 From state LANEROL2 19:07:19 NORMALMOWING / LANEROL2 Dir 1 State changed at 3222370 From state NEXTLANE 19:07:17 NORMALMOWING / NEXTLANE Dir 1 State changed at 3220508 From state LANEROL1 19:07:14 NORMALMOWING / LANEROL1 Dir 1 State changed at 3216944 From state POUTREV 19:07:11 NORMALMOWING / POUTREV Dir 1 State changed at 3214790 From state POUTSTOP 19:07:11 Timer 2 startmin 1084 stopmin 1351 currmin 1147 19:07:11 checktimer 19:07:11 NORMALMOWING / POUTSTOP Dir 1 State changed at 3213965 From state FRWODO 19:07:11 Perimeter trigger at : 3213965 19:06:36 NORMALMOWING / FRWODO Dir 1 State changed at 3178918 From state LANEROL2 19:06:33 NORMALMOWING / LANEROL2 Dir 0 State changed at 3176821 From state NEXTLANE 19:06:32 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 19:06:32 NORMALMOWING / NEXTLANE Dir 0 State changed at 3175068 From state LANEROL1 19:06:32 Warning can t Roll1 by lane in time 19:06:25 NORMALMOWING / LANEROL1 Dir 0 State changed at 3168671 From state POUTREV 19:06:23 NORMALMOWING / POUTREV Dir 0 State changed at 3166312 From state POUTSTOP 19:06:22 NORMALMOWING / POUTSTOP Dir 0 State changed at 3165405 From state FRWODO 19:06:22 Perimeter trigger at : 3165405 19:05:43 NORMALMOWING / FRWODO Dir 1 State changed at 3126303 From state LANEROL2 19:05:42 NORMALMOWING / LANEROL2 Dir 1 State changed at 3125103 From state NEXTLANE 19:05:40 NORMALMOWING / NEXTLANE Dir 1 State changed at 3123122 From state LANEROL1 19:05:36 NORMALMOWING / LANEROL1 Dir 1 State changed at 3119567 From state POUTREV 19:05:34 NORMALMOWING / POUTREV Dir 1 State changed at 3117403 From state POUTSTOP 19:05:33 Timer 2 startmin 1084 stopmin 1351 currmin 1145 19:05:33 checktimer 19:05:33 NORMALMOWING / POUTSTOP Dir 1 State changed at 3116597 From state FRWODO 19:05:33 Perimeter trigger at : 3116597 19:05:29 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=127 state FRWODO 19:05:29 NORMALMOWING / FRWODO Dir 1 State changed at 3112002 From state LANEROL2 19:05:29 Warning can t make the roll2 in time 19:05:25 NORMALMOWING / LANEROL2 Dir 0 State changed at 3107903 From state NEXTLANE 19:05:23 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 19:05:23 NORMALMOWING / NEXTLANE Dir 0 State changed at 3106301 From state LANEROL1 19:05:23 Warning can t Roll1 by lane in time 19:05:17 NORMALMOWING / LANEROL1 Dir 0 State changed at 3099896 From state POUTREV 19:05:15 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state POUTREV 19:05:15 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 19:05:15 NORMALMOWING / POUTREV Dir 0 State changed at 3098345 From state SONARTRIG 19:05:15 Warning can t sonar trig in time 19:05:10 NORMALMOWING / SONARTRIG Dir 0 State changed at 3093349 From state FRWODO 19:05:10 Sonar Left Trigger at cm : 68 19:05:04 NORMALMOWING / FRWODO Dir 1 State changed at 3087858 From state LANEROL2 19:05:03 NORMALMOWING / LANEROL2 Dir 1 State changed at 3086658 From state NEXTLANE 19:05:01 NORMALMOWING / NEXTLANE Dir 1 State changed at 3084827 From state LANEROL1 19:04:58 NORMALMOWING / LANEROL1 Dir 1 State changed at 3081321 From state POUTREV 19:04:56 NORMALMOWING / POUTREV Dir 1 State changed at 3079169 From state POUTSTOP 19:04:55 NORMALMOWING / POUTSTOP Dir 1 State changed at 3078380 From state FRWODO 19:04:55 Perimeter trigger at : 3078380 19:04:50 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=159 state FRWODO 19:04:50 NORMALMOWING / FRWODO Dir 1 State changed at 3073675 From state LANEROL2 19:04:50 Warning can t make the roll2 in time 19:04:46 NORMALMOWING / LANEROL2 Dir 0 State changed at 3069581 From state NEXTLANE 19:04:44 NORMALMOWING / NEXTLANE Dir 0 State changed at 3067706 From state LANEROL1 19:04:41 NORMALMOWING / LANEROL1 Dir 0 State changed at 3064562 From state POUTREV 19:04:40 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 19:04:40 NORMALMOWING / POUTREV Dir 0 State changed at 3062970 From state SONARTRIG 19:04:39 Warning can t sonar trig in time 19:04:35 NORMALMOWING / SONARTRIG Dir 0 State changed at 3058131 From state FRWODO 19:04:35 Sonar Left Trigger at cm : 64 19:04:29 NORMALMOWING / FRWODO Dir 1 State changed at 3052113 From state LANEROL2 19:04:28 NORMALMOWING / LANEROL2 Dir 1 State changed at 3050979 From state NEXTLANE 19:04:26 NORMALMOWING / NEXTLANE Dir 1 State changed at 3049125 From state LANEROL1 19:04:22 NORMALMOWING / LANEROL1 Dir 1 State changed at 3045775 From state POUTREV 19:04:20 NORMALMOWING / POUTREV Dir 1 State changed at 3043778 From state POUTSTOP 19:04:20 Timer 2 startmin 1084 stopmin 1351 currmin 1144 19:04:20 checktimer 19:04:20 NORMALMOWING / POUTSTOP Dir 1 State changed at 3042980 From state FRWODO 19:04:20 Perimeter trigger at : 3042980 19:03:47 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=159 state FRWODO 19:03:47 NORMALMOWING / FRWODO Dir 1 State changed at 3010138 From state AUTOCALIB 19:03:47 OK next state out rev 19:03:47 4 sec of read value, verify if the drift is stop 19:03:42 NORMALMOWING / AUTOCALIB Dir 1 State changed at 3005596 From state STOPCALIB 19:03:42 Warning can t stop to calibrate in time 19:02:48 NORMALMOWING / STOPCALIB Dir 1 State changed at 2951596 From state ROLLTOFINDYAW 19:02:47 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 2950677 From state FINDYAWSTOP 19:02:47 <<< <<< <<< <<< <<< << 0 19:02:47 imu.comYaw 87.18 imu.ypr.yaw 76.58 distancePI(imu.comYaw, imu.ypr.yaw) -0.11 19:02:46 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 2949804 From state FRWODO 19:02:42 NORMALMOWING / FRWODO Dir 1 State changed at 2945798 From state LANEROL2 19:02:41 NORMALMOWING / LANEROL2 Dir 0 State changed at 2944392 From state NEXTLANE 19:02:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 19:02:39 NORMALMOWING / NEXTLANE Dir 0 State changed at 2942587 From state LANEROL1 19:02:39 Warning can t Roll1 by lane in time 19:02:33 NORMALMOWING / LANEROL1 Dir 0 State changed at 2936188 From state POUTREV 19:02:31 NORMALMOWING / POUTREV Dir 0 State changed at 2934232 From state POUTSTOP 19:02:30 Timer 2 startmin 1084 stopmin 1351 currmin 1142 19:02:30 checktimer 19:02:30 NORMALMOWING / POUTSTOP Dir 0 State changed at 2933266 From state FRWODO 19:02:30 Perimeter trigger at : 2933266 19:02:00 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-50 pwmRight=114 On state FRWODO 19:02:00 NORMALMOWING / FRWODO Dir 1 State changed at 2903101 From state LANEROL2 19:02:00 Warning can t make the roll2 in time 19:01:56 NORMALMOWING / LANEROL2 Dir 1 State changed at 2899002 From state NEXTLANE 19:01:54 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 19:01:54 NORMALMOWING / NEXTLANE Dir 1 State changed at 2897257 From state LANEROL1 19:01:54 Warning can t Roll1 by lane in time 19:01:47 NORMALMOWING / LANEROL1 Dir 1 State changed at 2890860 From state POUTREV 19:01:46 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state POUTREV 19:01:46 NORMALMOWING / POUTREV Dir 1 State changed at 2889095 From state SONARTRIG 19:01:45 Warning can t sonar trig in time 19:01:41 NORMALMOWING / SONARTRIG Dir 1 State changed at 2884134 From state FRWODO 19:01:41 Sonar Left Trigger at cm : 67 19:01:13 NORMALMOWING / FRWODO Dir 1 State changed at 2856780 From state LANEROL2 19:01:12 NORMALMOWING / LANEROL2 Dir 0 State changed at 2855200 From state NEXTLANE 19:01:10 NORMALMOWING / NEXTLANE Dir 0 State changed at 2853241 From state LANEROL1 19:01:06 NORMALMOWING / LANEROL1 Dir 0 State changed at 2848998 From state POUTREV 19:01:03 NORMALMOWING / POUTREV Dir 0 State changed at 2846879 From state POUTSTOP 19:01:03 Timer 2 startmin 1084 stopmin 1351 currmin 1141 19:01:03 checktimer 19:01:02 NORMALMOWING / POUTSTOP Dir 0 State changed at 2845881 From state FRWODO 19:01:02 Perimeter trigger at : 2845881 19:00:21 NORMALMOWING / FRWODO Dir 1 State changed at 2804814 From state LANEROL2 19:00:20 NORMALMOWING / LANEROL2 Dir 1 State changed at 2803546 From state NEXTLANE 19:00:18 NORMALMOWING / NEXTLANE Dir 1 State changed at 2801741 From state LANEROL1 19:00:15 NORMALMOWING / LANEROL1 Dir 1 State changed at 2798374 From state POUTREV 19:00:13 NORMALMOWING / POUTREV Dir 1 State changed at 2796172 From state POUTSTOP 19:00:12 NORMALMOWING / POUTSTOP Dir 1 State changed at 2795371 From state FRWODO 19:00:12 Perimeter trigger at : 2795371 18:59:36 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=132 state FRWODO 18:59:36 NORMALMOWING / FRWODO Dir 1 State changed at 2759287 From state LANEROL2 18:59:36 Warning can t make the roll2 in time 18:59:32 NORMALMOWING / LANEROL2 Dir 0 State changed at 2755193 From state NEXTLANE 18:59:30 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 18:59:30 NORMALMOWING / NEXTLANE Dir 0 State changed at 2753395 From state LANEROL1 18:59:30 Warning can t Roll1 by lane in time 18:59:24 NORMALMOWING / LANEROL1 Dir 0 State changed at 2747005 From state POUTREV 18:59:21 NORMALMOWING / POUTREV Dir 0 State changed at 2744886 From state POUTSTOP 18:59:21 Timer 2 startmin 1084 stopmin 1351 currmin 1139 18:59:21 checktimer 18:59:21 NORMALMOWING / POUTSTOP Dir 0 State changed at 2744021 From state FRWODO 18:59:21 Perimeter trigger at : 2744021 18:58:41 NORMALMOWING / FRWODO Dir 1 State changed at 2704309 From state LANEROL2 18:58:40 NORMALMOWING / LANEROL2 Dir 1 State changed at 2703213 From state NEXTLANE 18:58:38 NORMALMOWING / NEXTLANE Dir 1 State changed at 2701266 From state LANEROL1 18:58:35 NORMALMOWING / LANEROL1 Dir 1 State changed at 2697956 From state POUTREV 18:58:33 NORMALMOWING / POUTREV Dir 1 State changed at 2695960 From state POUTSTOP 18:58:32 NORMALMOWING / POUTSTOP Dir 1 State changed at 2695130 From state FRWODO 18:58:32 Perimeter trigger at : 2695130 18:57:57 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=116 state FRWODO 18:57:57 NORMALMOWING / FRWODO Dir 1 State changed at 2660518 From state LANEROL2 18:57:57 Warning can t make the roll2 in time 18:57:53 NORMALMOWING / LANEROL2 Dir 0 State changed at 2656423 From state NEXTLANE 18:57:51 NORMALMOWING / NEXTLANE Dir 0 State changed at 2654379 From state LANEROL1 18:57:47 NORMALMOWING / LANEROL1 Dir 0 State changed at 2649899 From state POUTREV 18:57:46 Warning can t peri out rev in time 18:57:41 NORMALMOWING / POUTREV Dir 0 State changed at 2644822 From state POUTSTOP 18:57:41 Timer 2 startmin 1084 stopmin 1351 currmin 1137 18:57:41 checktimer 18:57:41 NORMALMOWING / POUTSTOP Dir 0 State changed at 2643929 From state FRWODO 18:57:40 Perimeter trigger at : 2643929 18:57:02 NORMALMOWING / FRWODO Dir 1 State changed at 2605248 From state LANEROL2 18:57:01 NORMALMOWING / LANEROL2 Dir 1 State changed at 2603954 From state NEXTLANE 18:56:59 NORMALMOWING / NEXTLANE Dir 1 State changed at 2602152 From state LANEROL1 18:56:55 NORMALMOWING / LANEROL1 Dir 1 State changed at 2598548 From state POUTREV 18:56:55 Warning can t peri out rev in time 18:56:50 NORMALMOWING / POUTREV Dir 1 State changed at 2593471 From state POUTSTOP 18:56:49 NORMALMOWING / POUTSTOP Dir 1 State changed at 2592558 From state FRWODO 18:56:49 Perimeter trigger at : 2592558 18:56:16 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-59 pwmLeft=131 state FRWODO 18:56:16 NORMALMOWING / FRWODO Dir 1 State changed at 2559686 From state LANEROL2 18:56:16 Warning can t make the roll2 in time 18:56:12 NORMALMOWING / LANEROL2 Dir 0 State changed at 2555592 From state NEXTLANE 18:56:10 NORMALMOWING / NEXTLANE Dir 0 State changed at 2553413 From state LANEROL1 18:56:06 NORMALMOWING / LANEROL1 Dir 0 State changed at 2549438 From state POUTREV 18:56:04 NORMALMOWING / POUTREV Dir 0 State changed at 2547376 From state POUTSTOP 18:56:03 Timer 2 startmin 1084 stopmin 1351 currmin 1136 18:56:03 checktimer 18:56:03 NORMALMOWING / POUTSTOP Dir 0 State changed at 2546416 From state FRWODO 18:56:03 Perimeter trigger at : 2546416 18:55:26 NORMALMOWING / FRWODO Dir 1 State changed at 2509858 From state LANEROL2 18:55:25 NORMALMOWING / LANEROL2 Dir 1 State changed at 2508657 From state NEXTLANE 18:55:23 NORMALMOWING / NEXTLANE Dir 1 State changed at 2506686 From state LANEROL1 18:55:20 NORMALMOWING / LANEROL1 Dir 1 State changed at 2503177 From state POUTREV 18:55:18 NORMALMOWING / POUTREV Dir 1 State changed at 2501117 From state POUTSTOP 18:55:17 NORMALMOWING / POUTSTOP Dir 1 State changed at 2500307 From state FRWODO 18:55:17 Perimeter trigger at : 2500307 18:54:49 NORMALMOWING / FRWODO Dir 1 State changed at 2472727 From state AUTOCALIB 18:54:49 OK next state out rev 18:54:49 4 sec of read value, verify if the drift is stop 18:54:45 NORMALMOWING / AUTOCALIB Dir 1 State changed at 2468171 From state STOPCALIB 18:54:44 NORMALMOWING / STOPCALIB Dir 1 State changed at 2467833 From state ROLLTOFINDYAW 18:54:44 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 2467823 From state FINDYAWSTOP 18:54:44 >>> >>> >>> >>> >>> >>> 0 18:54:44 imu.comYaw 76.07 imu.ypr.yaw 80.55 distancePI(imu.comYaw, imu.ypr.yaw) 0.04 18:54:43 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 2466712 From state FRWODO 18:54:39 NORMALMOWING / FRWODO Dir 1 State changed at 2462711 From state LANEROL2 18:54:37 NORMALMOWING / LANEROL2 Dir 0 State changed at 2460765 From state NEXTLANE 18:54:35 NORMALMOWING / NEXTLANE Dir 0 State changed at 2458677 From state LANEROL1 18:54:31 NORMALMOWING / LANEROL1 Dir 0 State changed at 2454282 From state POUTREV 18:54:31 Warning can t peri out rev in time 18:54:26 NORMALMOWING / POUTREV Dir 0 State changed at 2449216 From state POUTSTOP 18:54:25 Timer 2 startmin 1084 stopmin 1351 currmin 1134 18:54:25 checktimer 18:54:25 NORMALMOWING / POUTSTOP Dir 0 State changed at 2448203 From state FRWODO 18:54:25 Perimeter trigger at : 2448203 18:53:49 NORMALMOWING / FRWODO Dir 1 State changed at 2412892 From state LANEROL2 18:53:48 NORMALMOWING / LANEROL2 Dir 1 State changed at 2411568 From state NEXTLANE 18:53:46 NORMALMOWING / NEXTLANE Dir 1 State changed at 2409775 From state LANEROL1 18:53:43 NORMALMOWING / LANEROL1 Dir 1 State changed at 2406101 From state POUTREV 18:53:40 NORMALMOWING / POUTREV Dir 1 State changed at 2403779 From state POUTSTOP 18:53:40 NORMALMOWING / POUTSTOP Dir 1 State changed at 2402984 From state FRWODO 18:53:40 Perimeter trigger at : 2402983 18:53:10 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=140 state FRWODO 18:53:10 NORMALMOWING / FRWODO Dir 1 State changed at 2373379 From state LANEROL2 18:53:10 Warning can t make the roll2 in time 18:53:06 NORMALMOWING / LANEROL2 Dir 0 State changed at 2369280 From state NEXTLANE 18:53:04 NORMALMOWING / NEXTLANE Dir 0 State changed at 2367270 From state LANEROL1 18:52:59 NORMALMOWING / LANEROL1 Dir 0 State changed at 2362557 From state POUTREV 18:52:57 NORMALMOWING / POUTREV Dir 0 State changed at 2360681 From state POUTSTOP 18:52:56 Timer 2 startmin 1084 stopmin 1351 currmin 1133 18:52:56 checktimer 18:52:56 NORMALMOWING / POUTSTOP Dir 0 State changed at 2359505 From state FRWODO 18:52:56 Perimeter trigger at : 2359505 18:52:23 NORMALMOWING / FRWODO Dir 1 State changed at 2326271 From state LANEROL2 18:52:22 NORMALMOWING / LANEROL2 Dir 1 State changed at 2325111 From state NEXTLANE 18:52:20 NORMALMOWING / NEXTLANE Dir 1 State changed at 2323249 From state LANEROL1 18:52:16 NORMALMOWING / LANEROL1 Dir 1 State changed at 2319378 From state POUTREV 18:52:14 NORMALMOWING / POUTREV Dir 1 State changed at 2317314 From state POUTSTOP 18:52:13 NORMALMOWING / POUTSTOP Dir 1 State changed at 2316526 From state FRWODO 18:52:13 Perimeter trigger at : 2316526 18:51:46 NORMALMOWING / FRWODO Dir 1 State changed at 2289306 From state LANEROL2 18:51:44 NORMALMOWING / LANEROL2 Dir 0 State changed at 2287597 From state NEXTLANE 18:51:42 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 18:51:42 NORMALMOWING / NEXTLANE Dir 0 State changed at 2285834 From state LANEROL1 18:51:42 Warning can t Roll1 by lane in time 18:51:36 NORMALMOWING / LANEROL1 Dir 0 State changed at 2279437 From state POUTREV 18:51:34 NORMALMOWING / POUTREV Dir 0 State changed at 2277601 From state POUTSTOP 18:51:33 Timer 2 startmin 1084 stopmin 1351 currmin 1131 18:51:33 checktimer 18:51:33 NORMALMOWING / POUTSTOP Dir 0 State changed at 2276674 From state FRWODO 18:51:33 Perimeter trigger at : 2276674 18:51:03 NORMALMOWING / FRWODO Dir 1 State changed at 2246322 From state LANEROL2 18:51:02 NORMALMOWING / LANEROL2 Dir 1 State changed at 2245004 From state NEXTLANE 18:51:00 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 18:51:00 NORMALMOWING / NEXTLANE Dir 1 State changed at 2243051 From state LANEROL1 18:51:00 Warning can t Roll1 by lane in time 18:50:53 NORMALMOWING / LANEROL1 Dir 1 State changed at 2236654 From state POUTREV 18:50:51 NORMALMOWING / POUTREV Dir 1 State changed at 2234517 From state POUTSTOP 18:50:50 NORMALMOWING / POUTSTOP Dir 1 State changed at 2233744 From state FRWODO 18:50:50 Perimeter trigger at : 2233744 18:50:26 NORMALMOWING / FRWODO Dir 1 State changed at 2209090 From state LANEROL2 18:50:24 NORMALMOWING / LANEROL2 Dir 0 State changed at 2207384 From state NEXTLANE 18:50:22 NORMALMOWING / NEXTLANE Dir 0 State changed at 2205135 From state LANEROL1 18:50:18 NORMALMOWING / LANEROL1 Dir 0 State changed at 2201342 From state POUTREV 18:50:16 NORMALMOWING / POUTREV Dir 0 State changed at 2199453 From state POUTSTOP 18:50:15 Timer 2 startmin 1084 stopmin 1351 currmin 1130 18:50:15 checktimer 18:50:15 NORMALMOWING / POUTSTOP Dir 0 State changed at 2198521 From state FRWODO 18:50:15 Perimeter trigger at : 2198521 18:49:59 NORMALMOWING / FRWODO Dir 1 State changed at 2182380 From state LANEROL2 18:49:58 NORMALMOWING / LANEROL2 Dir 1 State changed at 2181137 From state NEXTLANE 18:49:56 NORMALMOWING / NEXTLANE Dir 1 State changed at 2179185 From state LANEROL1 18:49:52 NORMALMOWING / LANEROL1 Dir 1 State changed at 2175701 From state POUTREV 18:49:50 NORMALMOWING / POUTREV Dir 1 State changed at 2173779 From state STOPONBUMPER 18:49:50 NORMALMOWING / STOPONBUMPER Dir 1 State changed at 2173407 From state SONARTRIG 18:49:50 Bumper right trigger 18:49:49 NORMALMOWING / SONARTRIG Dir 1 State changed at 2172511 From state FRWODO 18:49:49 Sonar Left Trigger at cm : 66 18:49:36 NORMALMOWING / FRWODO Dir 1 State changed at 2159612 From state LANEROL2 18:49:34 NORMALMOWING / LANEROL2 Dir 0 State changed at 2157947 From state NEXTLANE 18:49:33 NORMALMOWING / NEXTLANE Dir 0 State changed at 2156028 From state LANEROL1 18:49:29 NORMALMOWING / LANEROL1 Dir 0 State changed at 2152294 From state POUTREV 18:49:27 NORMALMOWING / POUTREV Dir 0 State changed at 2150353 From state POUTSTOP 18:49:26 NORMALMOWING / POUTSTOP Dir 0 State changed at 2149409 From state FRWODO 18:49:26 Perimeter trigger at : 2149409 18:49:11 NORMALMOWING / FRWODO Dir 1 State changed at 2134230 From state LANEROL2 18:49:10 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state LANEROL2 18:49:09 NORMALMOWING / LANEROL2 Dir 1 State changed at 2132925 From state NEXTLANE 18:49:09 Warning can t reach next lane in time 18:49:04 NORMALMOWING / NEXTLANE Dir 1 State changed at 2127943 From state LANEROL1 18:49:01 NORMALMOWING / LANEROL1 Dir 1 State changed at 2124644 From state POUTREV 18:48:59 NORMALMOWING / POUTREV Dir 1 State changed at 2122708 From state STOPONBUMPER 18:48:59 NORMALMOWING / STOPONBUMPER Dir 1 State changed at 2122378 From state FRWODO 18:48:59 Bumper left trigger 18:48:58 Bad reading perimeter In/Out, certainly we are very far the wire 18:48:46 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=69 state FRWODO 18:48:46 NORMALMOWING / FRWODO Dir 0 State changed at 2109906 From state LANEROL2 18:48:46 Warning can t make the roll2 in time 18:48:42 NORMALMOWING / LANEROL2 Dir 0 State changed at 2105807 From state NEXTLANE 18:48:41 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 18:48:41 NORMALMOWING / NEXTLANE Dir 0 State changed at 2104072 From state LANEROL1 18:48:41 Warning can t Roll1 by lane in time 18:48:34 NORMALMOWING / LANEROL1 Dir 0 State changed at 2097687 From state POUTREV 18:48:32 NORMALMOWING / POUTREV Dir 0 State changed at 2095794 From state POUTSTOP 18:48:31 Timer 2 startmin 1084 stopmin 1351 currmin 1128 18:48:31 checktimer 18:48:31 NORMALMOWING / POUTSTOP Dir 0 State changed at 2094760 From state FRWODO 18:48:31 Perimeter trigger at : 2094760 18:48:07 NORMALMOWING / FRWODO Dir 0 State changed at 2070706 From state LANEROL2 18:48:06 NORMALMOWING / LANEROL2 Dir 1 State changed at 2069471 From state NEXTLANE 18:48:04 NORMALMOWING / NEXTLANE Dir 1 State changed at 2067658 From state LANEROL1 18:48:01 NORMALMOWING / LANEROL1 Dir 1 State changed at 2064024 From state POUTREV 18:47:59 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 270 18:47:59 NORMALMOWING / POUTREV Dir 1 State changed at 2062007 From state POUTSTOP 18:47:58 NORMALMOWING / POUTSTOP Dir 1 State changed at 2061244 From state FRWODO 18:47:58 Perimeter trigger at : 2061244 18:47:41 NORMALMOWING / FRWODO Dir 1 State changed at 2044558 From state AUTOCALIB 18:47:41 OK next state out rev 18:47:41 4 sec of read value, verify if the drift is stop 18:47:37 Drift not Stop wait again 4 sec 18:47:37 4 sec of read value, verify if the drift is stop 18:47:32 NORMALMOWING / AUTOCALIB Dir 1 State changed at 2035900 From state STOPCALIB 18:47:20 NORMALMOWING / STOPCALIB Dir 1 State changed at 2022994 From state ROLLTOFINDYAW 18:47:19 NORMALMOWING / ROLLTOFINDYAW Dir 1 State changed at 2022644 From state FINDYAWSTOP 18:47:19 >>> >>> >>> >>> >>> >>> 0 18:47:19 imu.comYaw 72.37 imu.ypr.yaw 81.92 distancePI(imu.comYaw, imu.ypr.yaw) 0.10 18:47:18 NORMALMOWING / FINDYAWSTOP Dir 1 State changed at 2021813 From state FRWODO 18:47:14 NORMALMOWING / FRWODO Dir 0 State changed at 2017812 From state LANEROL2 18:47:13 NORMALMOWING / LANEROL2 Dir 0 State changed at 2016172 From state NEXTLANE 18:47:11 NORMALMOWING / NEXTLANE Dir 0 State changed at 2014295 From state LANEROL1 18:47:07 NORMALMOWING / LANEROL1 Dir 0 State changed at 2010431 From state POUTREV 18:47:05 NORMALMOWING / POUTREV Dir 0 State changed at 2008631 From state POUTSTOP 18:47:04 Timer 2 startmin 1084 stopmin 1351 currmin 1127 18:47:04 checktimer 18:47:04 NORMALMOWING / POUTSTOP Dir 0 State changed at 2007715 From state FRWODO 18:47:04 Perimeter trigger at : 2007715 18:46:41 NORMALMOWING / FRWODO Dir 0 State changed at 1984219 From state LANEROL2 18:46:39 NORMALMOWING / LANEROL2 Dir 1 State changed at 1982985 From state NEXTLANE 18:46:38 NORMALMOWING / NEXTLANE Dir 1 State changed at 1981191 From state LANEROL1 18:46:34 NORMALMOWING / LANEROL1 Dir 1 State changed at 1977694 From state POUTREV 18:46:32 NORMALMOWING / POUTREV Dir 1 State changed at 1975475 From state POUTSTOP 18:46:31 NORMALMOWING / POUTSTOP Dir 1 State changed at 1974674 From state FRWODO 18:46:31 Perimeter trigger at : 1974674 18:46:13 NORMALMOWING / FRWODO Dir 0 State changed at 1956484 From state LANEROL2 18:46:11 NORMALMOWING / LANEROL2 Dir 0 State changed at 1954945 From state NEXTLANE 18:46:09 NORMALMOWING / NEXTLANE Dir 0 State changed at 1952886 From state LANEROL1 18:46:06 NORMALMOWING / LANEROL1 Dir 0 State changed at 1949016 From state POUTREV 18:46:04 NORMALMOWING / POUTREV Dir 0 State changed at 1947241 From state POUTSTOP 18:46:03 Timer 2 startmin 1084 stopmin 1351 currmin 1126 18:46:03 checktimer 18:46:03 NORMALMOWING / POUTSTOP Dir 0 State changed at 1946219 From state FRWODO 18:46:03 Perimeter trigger at : 1946219 18:45:42 NORMALMOWING / FRWODO Dir 0 State changed at 1925362 From state LANEROL2 18:45:41 NORMALMOWING / LANEROL2 Dir 1 State changed at 1924071 From state NEXTLANE 18:45:39 NORMALMOWING / NEXTLANE Dir 1 State changed at 1922241 From state LANEROL1 18:45:34 NORMALMOWING / LANEROL1 Dir 1 State changed at 1917970 From state POUTREV 18:45:32 NORMALMOWING / POUTREV Dir 1 State changed at 1915820 From state POUTSTOP 18:45:32 NORMALMOWING / POUTSTOP Dir 1 State changed at 1915017 From state FRWODO 18:45:32 Perimeter trigger at : 1915017 18:45:16 NORMALMOWING / FRWODO Dir 0 State changed at 1899237 From state LANEROL2 18:45:14 NORMALMOWING / LANEROL2 Dir 0 State changed at 1897814 From state NEXTLANE 18:45:13 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 18:45:13 NORMALMOWING / NEXTLANE Dir 0 State changed at 1896020 From state LANEROL1 18:45:13 Warning can t Roll1 by lane in time 18:45:06 NORMALMOWING / LANEROL1 Dir 0 State changed at 1889635 From state POUTREV 18:45:04 NORMALMOWING / POUTREV Dir 0 State changed at 1887855 From state POUTSTOP 18:45:04 Timer 2 startmin 1084 stopmin 1351 currmin 1125 18:45:03 checktimer 18:45:03 NORMALMOWING / POUTSTOP Dir 0 State changed at 1886965 From state FRWODO 18:45:03 Perimeter trigger at : 1886965 18:44:45 NORMALMOWING / FRWODO Dir 0 State changed at 1868967 From state LANEROL2 18:44:44 NORMALMOWING / LANEROL2 Dir 1 State changed at 1867706 From state NEXTLANE 18:44:42 NORMALMOWING / NEXTLANE Dir 1 State changed at 1865835 From state LANEROL1 18:44:39 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state LANEROL1 18:44:38 NORMALMOWING / LANEROL1 Dir 1 State changed at 1861980 From state POUTREV 18:44:38 Warning can t peri out rev in time 18:44:33 NORMALMOWING / POUTREV Dir 1 State changed at 1856888 From state POUTSTOP 18:44:33 NORMALMOWING / POUTSTOP Dir 1 State changed at 1856091 From state FRWODO 18:44:33 Perimeter trigger at : 1856091 18:44:19 NORMALMOWING / FRWODO Dir 0 State changed at 1842872 From state LANEROL2 18:44:16 NORMALMOWING / LANEROL2 Dir 0 State changed at 1839437 From state NEXTLANE 18:44:14 NORMALMOWING / NEXTLANE Dir 0 State changed at 1837493 From state LANEROL1 18:44:10 NORMALMOWING / LANEROL1 Dir 0 State changed at 1833969 From state POUTREV 18:44:09 NORMALMOWING / POUTREV Dir 0 State changed at 1832171 From state POUTSTOP 18:44:08 NORMALMOWING / POUTSTOP Dir 0 State changed at 1831281 From state FRWODO 18:44:08 Perimeter trigger at : 1831281 18:43:53 NORMALMOWING / FRWODO Dir 0 State changed at 1816091 From state LANEROL2 18:43:51 NORMALMOWING / LANEROL2 Dir 1 State changed at 1814562 From state NEXTLANE 18:43:49 NORMALMOWING / NEXTLANE Dir 1 State changed at 1812729 From state LANEROL1 18:43:46 NORMALMOWING / LANEROL1 Dir 1 State changed at 1809043 From state POUTREV 18:43:43 NORMALMOWING / POUTREV Dir 1 State changed at 1806760 From state POUTSTOP 18:43:43 Timer 2 startmin 1084 stopmin 1351 currmin 1123 18:43:43 checktimer 18:43:42 NORMALMOWING / POUTSTOP Dir 1 State changed at 1805984 From state FRWODO 18:43:42 Perimeter trigger at : 1805984 18:43:32 NORMALMOWING / FRWODO Dir 0 State changed at 1795057 From state LANEROL2 18:43:30 NORMALMOWING / LANEROL2 Dir 0 State changed at 1793510 From state NEXTLANE 18:43:28 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=-48 pwmLeft=48 state NEXTLANE 18:43:28 NORMALMOWING / NEXTLANE Dir 0 State changed at 1791630 From state LANEROL1 18:43:28 Warning can t Roll1 by lane in time 18:43:22 NORMALMOWING / LANEROL1 Dir 0 State changed at 1785233 From state POUTREV 18:43:20 NORMALMOWING / POUTREV Dir 0 State changed at 1783444 From state POUTSTOP 18:43:19 NORMALMOWING / POUTSTOP Dir 0 State changed at 1782554 From state FRWODO 18:43:19 Perimeter trigger at : 1782554 18:43:07 NORMALMOWING / FRWODO Dir 0 State changed at 1770034 From state LANEROL2 18:43:05 NORMALMOWING / LANEROL2 Dir 1 State changed at 1768596 From state NEXTLANE 18:43:03 NORMALMOWING / NEXTLANE Dir 1 State changed at 1766553 From state LANEROL1 18:42:59 NORMALMOWING / LANEROL1 Dir 1 State changed at 1762901 From state POUTREV 18:42:57 NORMALMOWING / POUTREV Dir 1 State changed at 1760746 From state POUTSTOP 18:42:56 NORMALMOWING / POUTSTOP Dir 1 State changed at 1759973 From state FRWODO 18:42:56 Perimeter trigger at : 1759973 18:42:47 NORMALMOWING / FRWODO Dir 0 State changed at 1751011 From state LANEROL2 18:42:46 NORMALMOWING / LANEROL2 Dir 0 State changed at 1749143 From state NEXTLANE 18:42:44 NORMALMOWING / NEXTLANE Dir 0 State changed at 1747038 From state LANEROL1 18:42:40 NORMALMOWING / LANEROL1 Dir 0 State changed at 1743273 From state POUTREV 18:42:38 NORMALMOWING / POUTREV Dir 0 State changed at 1741388 From state POUTSTOP 18:42:37 Timer 2 startmin 1084 stopmin 1351 currmin 1122 18:42:37 checktimer 18:42:37 NORMALMOWING / POUTSTOP Dir 0 State changed at 1740368 From state FRWODO 18:42:37 Perimeter trigger at : 1740368 18:42:26 NORMALMOWING / FRWODO Dir 0 State changed at 1729411 From state LANEROL2 18:42:24 NORMALMOWING / LANEROL2 Dir 1 State changed at 1727940 From state NEXTLANE 18:42:22 NORMALMOWING / NEXTLANE Dir 1 State changed at 1726038 From state LANEROL1 18:42:18 NORMALMOWING / LANEROL1 Dir 1 State changed at 1721979 From state POUTREV 18:42:16 NORMALMOWING / POUTREV Dir 1 State changed at 1719759 From state POUTSTOP 18:42:15 NORMALMOWING / POUTSTOP Dir 1 State changed at 1718996 From state FRWODO 18:42:15 Perimeter trigger at : 1718996 18:42:13 NORMALMOWING / FRWODO Dir 0 State changed at 1716759 From state LANEROL2 18:42:12 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 18:42:12 NORMALMOWING / LANEROL2 Dir 0 State changed at 1715103 From state NEXTLANE 18:42:12 Warning can t reach next lane in time 18:42:07 NORMALMOWING / NEXTLANE Dir 0 State changed at 1710131 From state LANEROL1 18:42:03 NORMALMOWING / LANEROL1 Dir 0 State changed at 1706590 From state POUTREV 18:42:01 NORMALMOWING / POUTREV Dir 0 State changed at 1704701 From state POUTSTOP 18:42:00 NORMALMOWING / POUTSTOP Dir 0 State changed at 1703691 From state NEXTLANE 18:42:00 NORMALMOWING / NEXTLANE Dir 0 State changed at 1703192 From state LANEROL1 18:41:56 NORMALMOWING / LANEROL1 Dir 0 State changed at 1699303 From state POUTREV 18:41:53 NORMALMOWING / POUTREV Dir 0 State changed at 1697031 From state POUTSTOP 18:41:53 NORMALMOWING / POUTSTOP Dir 0 State changed at 1696213 From state FRWODO 18:41:53 Perimeter trigger at : 1696213 18:41:51 NORMALMOWING / FRWODO Dir 1 State changed at 1694376 From state LANEROL2 18:41:49 NORMALMOWING / LANEROL2 Dir 1 State changed at 1692826 From state NEXTLANE 18:41:48 NORMALMOWING / NEXTLANE Dir 1 State changed at 1691057 From state LANEROL1 18:41:44 NORMALMOWING / LANEROL1 Dir 1 State changed at 1687533 From state POUTREV 18:41:42 NORMALMOWING / POUTREV Dir 1 State changed at 1685697 From state POUTSTOP 18:41:41 NORMALMOWING / POUTSTOP Dir 1 State changed at 1684785 From state FRWODO 18:41:41 Perimeter trigger at : 1684785 18:41:37 NORMALMOWING / FRWODO Dir 1 State changed at 1680809 From state LANEROL2 18:41:36 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 18:41:36 NORMALMOWING / LANEROL2 Dir 0 State changed at 1679539 From state NEXTLANE 18:41:36 Warning can t reach next lane in time 18:41:31 NORMALMOWING / NEXTLANE Dir 0 State changed at 1674562 From state LANEROL1 18:41:27 NORMALMOWING / LANEROL1 Dir 0 State changed at 1670628 From state POUTREV 18:41:24 NORMALMOWING / POUTREV Dir 0 State changed at 1667890 From state POUTSTOP 18:41:24 Timer 2 startmin 1084 stopmin 1351 currmin 1121 18:41:24 checktimer 18:41:24 NORMALMOWING / POUTSTOP Dir 0 State changed at 1667092 From state FRWODO 18:41:24 Perimeter trigger at : 1667092 18:41:18 NORMALMOWING / FRWODO Dir 1 State changed at 1662017 From state LANEROL2 18:41:17 NORMALMOWING / LANEROL2 Dir 1 State changed at 1660141 From state NEXTLANE 18:41:15 NORMALMOWING / NEXTLANE Dir 1 State changed at 1658163 From state LANEROL1 18:41:11 NORMALMOWING / LANEROL1 Dir 1 State changed at 1654543 From state POUTREV 18:41:09 NORMALMOWING / POUTREV Dir 1 State changed at 1652735 From state POUTSTOP 18:41:08 NORMALMOWING / POUTSTOP Dir 1 State changed at 1651794 From state FRWODO 18:41:08 Perimeter trigger at : 1651794 18:41:02 NORMALMOWING / FRWODO Dir 1 State changed at 1645470 From state LANEROL2 18:41:01 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 18:41:01 NORMALMOWING / LANEROL2 Dir 0 State changed at 1644154 From state NEXTLANE 18:41:01 Warning can t reach next lane in time 18:40:56 NORMALMOWING / NEXTLANE Dir 0 State changed at 1639171 From state LANEROL1 18:40:51 NORMALMOWING / LANEROL1 Dir 0 State changed at 1635026 From state POUTREV 18:40:49 NORMALMOWING / POUTREV Dir 0 State changed at 1632876 From state POUTSTOP 18:40:49 NORMALMOWING / POUTSTOP Dir 0 State changed at 1632091 From state FRWODO 18:40:49 Perimeter trigger at : 1632091 18:40:46 NORMALMOWING / FRWODO Dir 0 State changed at 1629332 From state AUTOCALIB 18:40:46 OK next state out rev 18:40:46 4 sec of read value, verify if the drift is stop 18:40:41 NORMALMOWING / AUTOCALIB Dir 0 State changed at 1624792 From state STOPCALIB 18:40:35 NORMALMOWING / STOPCALIB Dir 0 State changed at 1619023 From state ROLLTOFINDYAW 18:40:35 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 1618922 From state FINDYAWSTOP 18:40:35 >>> >>> >>> >>> >>> >>> 0 18:40:35 imu.comYaw 73.37 imu.ypr.yaw 72.46 distancePI(imu.comYaw, imu.ypr.yaw) -0.01 18:40:34 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 1617992 From state FRWODO 18:40:30 NORMALMOWING / FRWODO Dir 1 State changed at 1613991 From state LANEROL2 18:40:29 NORMALMOWING / LANEROL2 Dir 1 State changed at 1612129 From state NEXTLANE 18:40:27 NORMALMOWING / NEXTLANE Dir 1 State changed at 1610161 From state LANEROL1 18:40:23 NORMALMOWING / LANEROL1 Dir 1 State changed at 1606197 From state POUTREV 18:40:21 NORMALMOWING / POUTREV Dir 1 State changed at 1604420 From state POUTSTOP 18:40:20 Timer 2 startmin 1084 stopmin 1351 currmin 1120 18:40:20 checktimer 18:40:20 NORMALMOWING / POUTSTOP Dir 1 State changed at 1603477 From state FRWODO 18:40:20 Perimeter trigger at : 1603477 18:40:12 NORMALMOWING / FRWODO Dir 1 State changed at 1595505 From state LANEROL2 18:40:11 NORMALMOWING / LANEROL2 Dir 0 State changed at 1594070 From state NEXTLANE 18:40:09 NORMALMOWING / NEXTLANE Dir 0 State changed at 1592098 From state LANEROL1 18:40:04 NORMALMOWING / LANEROL1 Dir 0 State changed at 1587630 From state POUTREV 18:40:02 NORMALMOWING / POUTREV Dir 0 State changed at 1585346 From state POUTSTOP 18:40:01 NORMALMOWING / POUTSTOP Dir 0 State changed at 1584533 From state FRWODO 18:40:01 Perimeter trigger at : 1584533 18:39:52 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=69 On state FRWODO 18:39:52 NORMALMOWING / FRWODO Dir 1 State changed at 1575755 From state LANEROL2 18:39:52 Warning can t make the roll2 in time 18:39:48 NORMALMOWING / LANEROL2 Dir 1 State changed at 1571661 From state NEXTLANE 18:39:46 NORMALMOWING / NEXTLANE Dir 1 State changed at 1569783 From state LANEROL1 18:39:42 NORMALMOWING / LANEROL1 Dir 1 State changed at 1566034 From state POUTREV 18:39:40 NORMALMOWING / POUTREV Dir 1 State changed at 1564006 From state POUTSTOP 18:39:39 NORMALMOWING / POUTSTOP Dir 1 State changed at 1562986 From state FRWODO 18:39:39 Perimeter trigger at : 1562986 18:39:29 NORMALMOWING / FRWODO Dir 1 State changed at 1552953 From state LANEROL2 18:39:28 NORMALMOWING / LANEROL2 Dir 0 State changed at 1551572 From state NEXTLANE 18:39:26 NORMALMOWING / NEXTLANE Dir 0 State changed at 1549290 From state LANEROL1 18:39:22 NORMALMOWING / LANEROL1 Dir 0 State changed at 1545361 From state POUTREV 18:39:19 NORMALMOWING / POUTREV Dir 0 State changed at 1543053 From state POUTSTOP 18:39:19 Timer 2 startmin 1084 stopmin 1351 currmin 1119 18:39:19 checktimer 18:39:19 NORMALMOWING / POUTSTOP Dir 0 State changed at 1542259 From state FRWODO 18:39:19 Perimeter trigger at : 1542259 18:39:08 NORMALMOWING / FRWODO Dir 1 State changed at 1531390 From state LANEROL2 18:39:06 NORMALMOWING / LANEROL2 Dir 1 State changed at 1529562 From state NEXTLANE 18:39:04 NORMALMOWING / NEXTLANE Dir 1 State changed at 1527569 From state LANEROL1 18:39:00 NORMALMOWING / LANEROL1 Dir 1 State changed at 1523961 From state POUTREV 18:38:59 NORMALMOWING / POUTREV Dir 1 State changed at 1522141 From state POUTSTOP 18:38:58 NORMALMOWING / POUTSTOP Dir 1 State changed at 1521213 From state FRWODO 18:38:58 Perimeter trigger at : 1521213 18:38:45 NORMALMOWING / FRWODO Dir 1 State changed at 1508778 From state LANEROL2 18:38:44 NORMALMOWING / LANEROL2 Dir 0 State changed at 1507546 From state NEXTLANE 18:38:42 NORMALMOWING / NEXTLANE Dir 0 State changed at 1505569 From state LANEROL1 18:38:38 NORMALMOWING / LANEROL1 Dir 0 State changed at 1501763 From state POUTREV 18:38:36 NORMALMOWING / POUTREV Dir 0 State changed at 1499465 From state POUTSTOP 18:38:35 NORMALMOWING / POUTSTOP Dir 0 State changed at 1498683 From state FRWODO 18:38:35 Perimeter trigger at : 1498683 18:38:22 NORMALMOWING / FRWODO Dir 1 State changed at 1485675 From state LANEROL2 18:38:21 NORMALMOWING / LANEROL2 Dir 1 State changed at 1484179 From state NEXTLANE 18:38:19 NORMALMOWING / NEXTLANE Dir 1 State changed at 1482226 From state LANEROL1 18:38:15 NORMALMOWING / LANEROL1 Dir 1 State changed at 1478901 From state POUTREV 18:38:14 NORMALMOWING / POUTREV Dir 1 State changed at 1477133 From state POUTSTOP 18:38:13 Timer 2 startmin 1084 stopmin 1351 currmin 1118 18:38:13 checktimer 18:38:13 NORMALMOWING / POUTSTOP Dir 1 State changed at 1476192 From state FRWODO 18:38:13 Perimeter trigger at : 1476192 18:37:58 NORMALMOWING / FRWODO Dir 1 State changed at 1461352 From state LANEROL2 18:37:56 NORMALMOWING / LANEROL2 Dir 0 State changed at 1459992 From state NEXTLANE 18:37:54 NORMALMOWING / NEXTLANE Dir 0 State changed at 1457820 From state LANEROL1 18:37:51 NORMALMOWING / LANEROL1 Dir 0 State changed at 1454172 From state POUTREV 18:37:48 NORMALMOWING / POUTREV Dir 0 State changed at 1451767 From state POUTSTOP 18:37:47 NORMALMOWING / POUTSTOP Dir 0 State changed at 1450994 From state FRWODO 18:37:47 Perimeter trigger at : 1450994 18:37:32 NORMALMOWING / FRWODO Dir 1 State changed at 1435821 From state LANEROL2 18:37:30 NORMALMOWING / LANEROL2 Dir 1 State changed at 1434023 From state NEXTLANE 18:37:29 NORMALMOWING / NEXTLANE Dir 1 State changed at 1432225 From state LANEROL1 18:37:25 NORMALMOWING / LANEROL1 Dir 1 State changed at 1428719 From state POUTREV 18:37:23 NORMALMOWING / POUTREV Dir 1 State changed at 1426967 From state POUTSTOP 18:37:22 NORMALMOWING / POUTSTOP Dir 1 State changed at 1426037 From state FRWODO 18:37:22 Perimeter trigger at : 1426036 18:37:05 NORMALMOWING / FRWODO Dir 1 State changed at 1408822 From state LANEROL2 18:37:04 NORMALMOWING / LANEROL2 Dir 0 State changed at 1407554 From state NEXTLANE 18:37:02 NORMALMOWING / NEXTLANE Dir 0 State changed at 1405590 From state LANEROL1 18:36:58 NORMALMOWING / LANEROL1 Dir 0 State changed at 1401998 From state POUTREV 18:36:58 Warning can t peri out rev in time 18:36:53 NORMALMOWING / POUTREV Dir 0 State changed at 1396911 From state POUTSTOP 18:36:53 Timer 2 startmin 1084 stopmin 1351 currmin 1117 18:36:53 checktimer 18:36:53 NORMALMOWING / POUTSTOP Dir 0 State changed at 1396133 From state FRWODO 18:36:53 Perimeter trigger at : 1396133 18:36:35 NORMALMOWING / FRWODO Dir 1 State changed at 1378884 From state LANEROL2 18:36:34 NORMALMOWING / LANEROL2 Dir 1 State changed at 1377441 From state NEXTLANE 18:36:32 NORMALMOWING / NEXTLANE Dir 1 State changed at 1375500 From state LANEROL1 18:36:28 NORMALMOWING / LANEROL1 Dir 1 State changed at 1371763 From state POUTREV 18:36:26 NORMALMOWING / POUTREV Dir 1 State changed at 1370004 From state POUTSTOP 18:36:25 NORMALMOWING / POUTSTOP Dir 1 State changed at 1368811 From state FRWODO 18:36:25 Perimeter trigger at : 1368811 18:36:06 NORMALMOWING / FRWODO Dir 1 State changed at 1349463 From state LANEROL2 18:36:05 NORMALMOWING / LANEROL2 Dir 0 State changed at 1348271 From state NEXTLANE 18:36:03 NORMALMOWING / NEXTLANE Dir 0 State changed at 1346158 From state LANEROL1 18:35:59 NORMALMOWING / LANEROL1 Dir 0 State changed at 1342813 From state POUTREV 18:35:57 NORMALMOWING / POUTREV Dir 0 State changed at 1340754 From state POUTSTOP 18:35:56 NORMALMOWING / POUTSTOP Dir 0 State changed at 1339972 From state FRWODO 18:35:56 Perimeter trigger at : 1339972 18:35:37 NORMALMOWING / FRWODO Dir 1 State changed at 1320511 From state LANEROL2 18:35:35 NORMALMOWING / LANEROL2 Dir 1 State changed at 1318863 From state NEXTLANE 18:35:34 NORMALMOWING / NEXTLANE Dir 1 State changed at 1317129 From state LANEROL1 18:35:30 NORMALMOWING / LANEROL1 Dir 1 State changed at 1313543 From state POUTREV 18:35:28 NORMALMOWING / POUTREV Dir 1 State changed at 1311620 From state POUTSTOP 18:35:27 Timer 2 startmin 1084 stopmin 1351 currmin 1115 18:35:27 checktimer 18:35:27 NORMALMOWING / POUTSTOP Dir 1 State changed at 1310785 From state FRWODO 18:35:27 Perimeter trigger at : 1310785 18:35:05 NORMALMOWING / FRWODO Dir 1 State changed at 1288993 From state LANEROL2 18:35:04 NORMALMOWING / LANEROL2 Dir 0 State changed at 1287823 From state NEXTLANE 18:35:02 NORMALMOWING / NEXTLANE Dir 0 State changed at 1285778 From state LANEROL1 18:34:59 NORMALMOWING / LANEROL1 Dir 0 State changed at 1282539 From state POUTREV 18:34:57 NORMALMOWING / POUTREV Dir 0 State changed at 1280535 From state POUTSTOP 18:34:56 NORMALMOWING / POUTSTOP Dir 0 State changed at 1279768 From state FRWODO 18:34:56 Perimeter trigger at : 1279768 18:34:50 NORMALMOWING / FRWODO Dir 1 State changed at 1273817 From state LANEROL2 18:34:49 NORMALMOWING / LANEROL2 Dir 1 State changed at 1272220 From state NEXTLANE 18:34:47 NORMALMOWING / NEXTLANE Dir 1 State changed at 1270387 From state LANEROL1 18:34:44 NORMALMOWING / LANEROL1 Dir 1 State changed at 1267409 From state POUTREV 18:34:42 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 18:34:42 NORMALMOWING / POUTREV Dir 1 State changed at 1265872 From state SONARTRIG 18:34:42 Warning can t sonar trig in time 18:34:38 NORMALMOWING / SONARTRIG Dir 1 State changed at 1261462 From state FRWODO 18:34:38 Sonar Left Trigger at cm : 53 18:34:31 NORMALMOWING / FRWODO Dir 1 State changed at 1254239 From state LANEROL2 18:34:29 NORMALMOWING / LANEROL2 Dir 0 State changed at 1253009 From state NEXTLANE 18:34:27 NORMALMOWING / NEXTLANE Dir 0 State changed at 1250815 From state LANEROL1 18:34:24 NORMALMOWING / LANEROL1 Dir 0 State changed at 1247516 From state POUTREV 18:34:22 NORMALMOWING / POUTREV Dir 0 State changed at 1245564 From state POUTSTOP 18:34:21 Timer 2 startmin 1084 stopmin 1351 currmin 1114 18:34:21 checktimer 18:34:21 NORMALMOWING / POUTSTOP Dir 0 State changed at 1244800 From state FRWODO 18:34:21 Perimeter trigger at : 1244800 18:34:16 NORMALMOWING / FRWODO Dir 1 State changed at 1239374 From state LANEROL2 18:34:14 NORMALMOWING / LANEROL2 Dir 1 State changed at 1237692 From state NEXTLANE 18:34:12 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 18:34:12 NORMALMOWING / NEXTLANE Dir 1 State changed at 1236037 From state LANEROL1 18:34:12 Warning can t Roll1 by lane in time 18:34:06 NORMALMOWING / LANEROL1 Dir 1 State changed at 1229673 From state POUTREV 18:34:05 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state POUTREV 18:34:05 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state POUTREV 18:34:05 NORMALMOWING / POUTREV Dir 1 State changed at 1228192 From state SONARTRIG 18:34:04 Warning can t sonar trig in time 18:34:00 NORMALMOWING / SONARTRIG Dir 1 State changed at 1223786 From state FRWODO 18:34:00 Sonar Left Trigger at cm : 53 18:33:53 NORMALMOWING / FRWODO Dir 1 State changed at 1217069 From state LANEROL2 18:33:52 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=48 pwmLeft=-48 state LANEROL2 18:33:52 NORMALMOWING / LANEROL2 Dir 0 State changed at 1216013 From state NEXTLANE 18:33:52 Warning can t reach next lane in time 18:33:47 NORMALMOWING / NEXTLANE Dir 0 State changed at 1211037 From state LANEROL1 18:33:44 NORMALMOWING / LANEROL1 Dir 0 State changed at 1207817 From state POUTREV 18:33:42 NORMALMOWING / POUTREV Dir 0 State changed at 1205849 From state POUTSTOP 18:33:41 NORMALMOWING / POUTSTOP Dir 0 State changed at 1205082 From state FRWODO 18:33:41 Perimeter trigger at : 1205082 18:33:40 NORMALMOWING / FRWODO Dir 0 State changed at 1203351 From state AUTOCALIB 18:33:40 OK next state out rev 18:33:40 4 sec of read value, verify if the drift is stop 18:33:35 NORMALMOWING / AUTOCALIB Dir 0 State changed at 1198795 From state STOPCALIB 18:33:35 NORMALMOWING / STOPCALIB Dir 0 State changed at 1198486 From state ROLLTOFINDYAW 18:33:35 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 1198345 From state FINDYAWSTOP 18:33:35 <<< <<< <<< <<< <<< << 0 18:33:35 imu.comYaw 81.40 imu.ypr.yaw 80.58 distancePI(imu.comYaw, imu.ypr.yaw) -0.01 18:33:34 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 1197635 From state FRWODO 18:33:30 NORMALMOWING / FRWODO Dir 1 State changed at 1193632 From state LANEROL2 18:33:28 NORMALMOWING / LANEROL2 Dir 1 State changed at 1191949 From state NEXTLANE 18:33:27 NORMALMOWING / NEXTLANE Dir 1 State changed at 1190373 From state LANEROL1 18:33:24 NORMALMOWING / LANEROL1 Dir 1 State changed at 1187538 From state POUTREV 18:33:22 NORMALMOWING / POUTREV Dir 1 State changed at 1185880 From state STOPONBUMPER 18:33:22 NORMALMOWING / STOPONBUMPER Dir 1 State changed at 1185529 From state FRWODO 18:33:22 Bumper left trigger 18:33:14 NORMALMOWING / FRWODO Dir 0 State changed at 1177626 From state LANEROL2 18:33:13 NORMALMOWING / LANEROL2 Dir 0 State changed at 1176370 From state NEXTLANE 18:33:11 NORMALMOWING / NEXTLANE Dir 0 State changed at 1174466 From state LANEROL1 18:33:07 NORMALMOWING / LANEROL1 Dir 0 State changed at 1171064 From state POUTREV 18:33:05 NORMALMOWING / POUTREV Dir 0 State changed at 1168999 From state POUTSTOP 18:33:05 Timer 2 startmin 1084 stopmin 1351 currmin 1113 18:33:05 checktimer 18:33:05 NORMALMOWING / POUTSTOP Dir 0 State changed at 1168228 From state FRWODO 18:33:05 Perimeter trigger at : 1168228 18:32:39 NORMALMOWING / FRWODO Dir 0 State changed at 1142971 From state LANEROL2 18:32:38 NORMALMOWING / LANEROL2 Dir 1 State changed at 1141211 From state NEXTLANE 18:32:36 NORMALMOWING / NEXTLANE Dir 1 State changed at 1139211 From state LANEROL1 18:32:29 NORMALMOWING / LANEROL1 Dir 1 State changed at 1133119 From state POUTREV 18:32:28 NORMALMOWING / POUTREV Dir 1 State changed at 1131370 From state POUTSTOP 18:32:27 NORMALMOWING / POUTSTOP Dir 1 State changed at 1130426 From state FRWODO 18:32:27 Perimeter trigger at : 1130426 18:31:58 NORMALMOWING / FRWODO Dir 0 State changed at 1102102 From state LANEROL2 18:31:57 NORMALMOWING / LANEROL2 Dir 0 State changed at 1100916 From state NEXTLANE 18:31:55 NORMALMOWING / NEXTLANE Dir 0 State changed at 1098765 From state LANEROL1 18:31:52 NORMALMOWING / LANEROL1 Dir 0 State changed at 1095465 From state POUTREV 18:31:50 NORMALMOWING / POUTREV Dir 0 State changed at 1093342 From state POUTSTOP 18:31:49 Timer 2 startmin 1084 stopmin 1351 currmin 1112 18:31:49 checktimer 18:31:49 NORMALMOWING / POUTSTOP Dir 0 State changed at 1092569 From state FRWODO 18:31:49 Perimeter trigger at : 1092569 18:31:21 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=137 On state FRWODO 18:31:21 NORMALMOWING / FRWODO Dir 0 State changed at 1065049 From state LANEROL2 18:31:21 Warning can t make the roll2 in time 18:31:17 NORMALMOWING / LANEROL2 Dir 1 State changed at 1060950 From state NEXTLANE 18:31:15 NORMALMOWING / NEXTLANE Dir 1 State changed at 1059123 From state LANEROL1 18:31:12 NORMALMOWING / LANEROL1 Dir 1 State changed at 1055312 From state POUTREV 18:31:09 ------ LOOP NOT OK DUE IS OVERLOAD -- Over 1 sec 260 18:31:09 NORMALMOWING / POUTREV Dir 1 State changed at 1053112 From state POUTSTOP 18:31:08 NORMALMOWING / POUTSTOP Dir 1 State changed at 1052108 From state FRWODO 18:31:08 Perimeter trigger at : 1052108 18:30:38 NORMALMOWING / FRWODO Dir 0 State changed at 1021289 From state LANEROL2 18:30:36 NORMALMOWING / LANEROL2 Dir 0 State changed at 1020102 From state NEXTLANE 18:30:34 NORMALMOWING / NEXTLANE Dir 0 State changed at 1018000 From state LANEROL1 18:30:31 NORMALMOWING / LANEROL1 Dir 0 State changed at 1014746 From state POUTREV 18:30:29 NORMALMOWING / POUTREV Dir 0 State changed at 1012667 From state POUTSTOP 18:30:28 Timer 2 startmin 1084 stopmin 1351 currmin 1110 18:30:28 checktimer 18:30:28 NORMALMOWING / POUTSTOP Dir 0 State changed at 1011889 From state FRWODO 18:30:28 Perimeter trigger at : 1011889 18:29:59 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-50 pwmRight=69 On state FRWODO 18:29:59 NORMALMOWING / FRWODO Dir 0 State changed at 982457 From state LANEROL2 18:29:59 Warning can t make the roll2 in time 18:29:55 NORMALMOWING / LANEROL2 Dir 1 State changed at 978341 From state NEXTLANE 18:29:53 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 18:29:53 NORMALMOWING / NEXTLANE Dir 1 State changed at 976648 From state LANEROL1 18:29:53 Warning can t Roll1 by lane in time 18:29:47 NORMALMOWING / LANEROL1 Dir 1 State changed at 970251 From state POUTREV 18:29:45 NORMALMOWING / POUTREV Dir 1 State changed at 968383 From state POUTSTOP 18:29:44 NORMALMOWING / POUTSTOP Dir 1 State changed at 967409 From state FRWODO 18:29:44 Perimeter trigger at : 967409 18:29:11 NORMALMOWING / FRWODO Dir 0 State changed at 934443 From state LANEROL2 18:29:10 NORMALMOWING / LANEROL2 Dir 0 State changed at 933286 From state NEXTLANE 18:29:08 NORMALMOWING / NEXTLANE Dir 0 State changed at 931391 From state LANEROL1 18:29:04 NORMALMOWING / LANEROL1 Dir 0 State changed at 928039 From state POUTREV 18:29:02 NORMALMOWING / POUTREV Dir 0 State changed at 926082 From state POUTSTOP 18:29:02 Timer 2 startmin 1084 stopmin 1351 currmin 1109 18:29:02 checktimer 18:29:02 NORMALMOWING / POUTSTOP Dir 0 State changed at 925301 From state FRWODO 18:29:02 Perimeter trigger at : 925301 18:28:30 NORMALMOWING / FRWODO Dir 0 State changed at 894086 From state LANEROL2 18:28:29 NORMALMOWING / LANEROL2 Dir 1 State changed at 892453 From state NEXTLANE 18:28:27 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=48 On state NEXTLANE 18:28:27 NORMALMOWING / NEXTLANE Dir 1 State changed at 890669 From state LANEROL1 18:28:27 Warning can t Roll1 by lane in time 18:28:21 NORMALMOWING / LANEROL1 Dir 1 State changed at 884272 From state POUTREV 18:28:19 NORMALMOWING / POUTREV Dir 1 State changed at 882484 From state POUTSTOP 18:28:18 NORMALMOWING / POUTSTOP Dir 1 State changed at 881561 From state FRWODO 18:28:18 Perimeter trigger at : 881561 18:27:43 NORMALMOWING / FRWODO Dir 0 State changed at 846245 From state LANEROL2 18:27:41 NORMALMOWING / LANEROL2 Dir 0 State changed at 845109 From state NEXTLANE 18:27:39 NORMALMOWING / NEXTLANE Dir 0 State changed at 843088 From state LANEROL1 18:27:36 NORMALMOWING / LANEROL1 Dir 0 State changed at 839733 From state POUTREV 18:27:34 NORMALMOWING / POUTREV Dir 0 State changed at 837630 From state POUTSTOP 18:27:33 Timer 2 startmin 1084 stopmin 1351 currmin 1107 18:27:33 checktimer 18:27:33 NORMALMOWING / POUTSTOP Dir 0 State changed at 836838 From state FRWODO 18:27:33 Perimeter trigger at : 836838 18:27:04 NORMALMOWING / FRWODO Dir 0 State changed at 807901 From state AUTOCALIB 18:27:04 OK next state out rev 18:27:04 4 sec of read value, verify if the drift is stop 18:27:00 NORMALMOWING / AUTOCALIB Dir 0 State changed at 803345 From state STOPCALIB 18:26:59 NORMALMOWING / STOPCALIB Dir 0 State changed at 802886 From state ROLLTOFINDYAW 18:26:59 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 802876 From state FINDYAWSTOP 18:26:59 >>> >>> >>> >>> >>> >>> 0 18:26:59 imu.comYaw 76.86 imu.ypr.yaw 72.77 distancePI(imu.comYaw, imu.ypr.yaw) -0.04 18:26:58 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 801994 From state FRWODO 18:26:54 NORMALMOWING / FRWODO Dir 0 State changed at 797993 From state LANEROL2 18:26:53 NORMALMOWING / LANEROL2 Dir 1 State changed at 796601 From state NEXTLANE 18:26:51 NORMALMOWING / NEXTLANE Dir 1 State changed at 794570 From state LANEROL1 18:26:47 NORMALMOWING / LANEROL1 Dir 1 State changed at 791063 From state POUTREV 18:26:45 NORMALMOWING / POUTREV Dir 1 State changed at 789033 From state POUTSTOP 18:26:44 NORMALMOWING / POUTSTOP Dir 1 State changed at 788116 From state FRWODO 18:26:44 Perimeter trigger at : 788116 18:26:08 NORMALMOWING / FRWODO Dir 0 State changed at 751311 From state LANEROL2 18:26:07 NORMALMOWING / LANEROL2 Dir 0 State changed at 750203 From state NEXTLANE 18:26:05 NORMALMOWING / NEXTLANE Dir 0 State changed at 748266 From state LANEROL1 18:26:01 NORMALMOWING / LANEROL1 Dir 0 State changed at 744944 From state POUTREV 18:25:59 NORMALMOWING / POUTREV Dir 0 State changed at 743001 From state POUTSTOP 18:25:59 Timer 2 startmin 1084 stopmin 1351 currmin 1106 18:25:59 checktimer 18:25:59 NORMALMOWING / POUTSTOP Dir 0 State changed at 742192 From state FRWODO 18:25:58 Perimeter trigger at : 742192 18:25:25 NORMALMOWING / FRWODO Dir 0 State changed at 708379 From state LANEROL2 18:25:23 NORMALMOWING / LANEROL2 Dir 1 State changed at 706697 From state NEXTLANE 18:25:21 NORMALMOWING / NEXTLANE Dir 1 State changed at 704720 From state LANEROL1 18:25:18 NORMALMOWING / LANEROL1 Dir 1 State changed at 701226 From state POUTREV 18:25:16 NORMALMOWING / POUTREV Dir 1 State changed at 699480 From state POUTSTOP 18:25:15 NORMALMOWING / POUTSTOP Dir 1 State changed at 698596 From state FRWODO 18:25:15 Perimeter trigger at : 698596 18:24:37 NORMALMOWING / FRWODO Dir 0 State changed at 660603 From state LANEROL2 18:24:36 NORMALMOWING / LANEROL2 Dir 0 State changed at 659537 From state NEXTLANE 18:24:34 NORMALMOWING / NEXTLANE Dir 0 State changed at 657687 From state LANEROL1 18:24:31 NORMALMOWING / LANEROL1 Dir 0 State changed at 654538 From state POUTREV 18:24:29 NORMALMOWING / POUTREV Dir 0 State changed at 652404 From state POUTSTOP 18:24:28 Timer 2 startmin 1084 stopmin 1351 currmin 1104 18:24:28 checktimer 18:24:28 NORMALMOWING / POUTSTOP Dir 0 State changed at 651641 From state FRWODO 18:24:28 Perimeter trigger at : 651641 18:24:24 NORMALMOWING / FRWODO Dir 0 State changed at 647381 From state LANEROL2 18:24:22 NORMALMOWING / LANEROL2 Dir 1 State changed at 645981 From state NEXTLANE 18:24:20 NORMALMOWING / NEXTLANE Dir 1 State changed at 644159 From state LANEROL1 18:24:18 NORMALMOWING / LANEROL1 Dir 1 State changed at 641296 From state POUTREV 18:24:16 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=49 pwmLeft=-48 state POUTREV 18:24:16 NORMALMOWING / POUTREV Dir 1 State changed at 639708 From state SONARTRIG 18:24:16 Warning can t sonar trig in time 18:24:11 NORMALMOWING / SONARTRIG Dir 1 State changed at 634709 From state FRWODO 18:24:11 Sonar Left Trigger at cm : 68 18:24:06 NORMALMOWING / FRWODO Dir 0 State changed at 629629 From state LANEROL2 18:24:05 NORMALMOWING / LANEROL2 Dir 0 State changed at 628560 From state NEXTLANE 18:24:03 NORMALMOWING / NEXTLANE Dir 0 State changed at 626626 From state LANEROL1 18:24:00 NORMALMOWING / LANEROL1 Dir 0 State changed at 623280 From state POUTREV 18:23:58 NORMALMOWING / POUTREV Dir 0 State changed at 621242 From state POUTSTOP 18:23:57 NORMALMOWING / POUTSTOP Dir 0 State changed at 620430 From state FRWODO 18:23:57 Perimeter trigger at : 620430 18:23:52 NORMALMOWING / FRWODO Dir 0 State changed at 616003 From state LANEROL2 18:23:51 NORMALMOWING / LANEROL2 Dir 1 State changed at 614490 From state NEXTLANE 18:23:49 NORMALMOWING / NEXTLANE Dir 1 State changed at 612838 From state LANEROL1 18:23:46 NORMALMOWING / LANEROL1 Dir 1 State changed at 609820 From state POUTREV 18:23:45 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=48 pwmRight=-48 On state POUTREV 18:23:45 WARNING PROTECTION ON LEFT MOTOR motorLeftPWMCurr=58 pwmLeft=-48 state POUTREV 18:23:45 NORMALMOWING / POUTREV Dir 1 State changed at 608409 From state SONARTRIG 18:23:44 Warning can t sonar trig in time 18:23:40 NORMALMOWING / SONARTRIG Dir 1 State changed at 603866 From state FRWODO 18:23:40 Sonar Left Trigger at cm : 56 18:23:35 NORMALMOWING / FRWODO Dir 0 State changed at 598271 From state LANEROL2 18:23:33 NORMALMOWING / LANEROL2 Dir 0 State changed at 597196 From state NEXTLANE 18:23:32 NORMALMOWING / NEXTLANE Dir 0 State changed at 595325 From state LANEROL1 18:23:28 NORMALMOWING / LANEROL1 Dir 0 State changed at 592074 From state POUTREV 18:23:26 NORMALMOWING / POUTREV Dir 0 State changed at 589994 From state POUTSTOP 18:23:26 Timer 2 startmin 1084 stopmin 1351 currmin 1103 18:23:26 checktimer 18:23:26 NORMALMOWING / POUTSTOP Dir 0 State changed at 589213 From state FRWODO 18:23:25 Perimeter trigger at : 589213 18:23:21 NORMALMOWING / FRWODO Dir 0 State changed at 584547 From state LANEROL2 18:23:19 NORMALMOWING / LANEROL2 Dir 1 State changed at 583121 From state NEXTLANE 18:23:18 NORMALMOWING / NEXTLANE Dir 1 State changed at 581430 From state LANEROL1 18:23:15 NORMALMOWING / LANEROL1 Dir 1 State changed at 578642 From state POUTREV 18:23:13 NORMALMOWING / POUTREV Dir 1 State changed at 577111 From state STOPONBUMPER 18:23:13 NORMALMOWING / STOPONBUMPER Dir 1 State changed at 576760 From state FRWODO 18:23:13 Motor Right current is 80 % of the max, value --> 25.78 18:23:06 NORMALMOWING / FRWODO Dir 1 State changed at 569848 From state LANEROL2 18:23:05 NORMALMOWING / LANEROL2 Dir 0 State changed at 568812 From state NEXTLANE 18:23:03 NORMALMOWING / NEXTLANE Dir 0 State changed at 566890 From state LANEROL1 18:23:00 NORMALMOWING / LANEROL1 Dir 0 State changed at 563673 From state POUTREV 18:22:58 NORMALMOWING / POUTREV Dir 0 State changed at 561502 From state POUTSTOP 18:22:57 NORMALMOWING / POUTSTOP Dir 0 State changed at 560705 From state FRWODO 18:22:57 Perimeter trigger at : 560705 18:22:23 NORMALMOWING / FRWODO Dir 1 State changed at 526248 From state LANEROL2 18:22:21 NORMALMOWING / LANEROL2 Dir 1 State changed at 524479 From state NEXTLANE 18:22:19 NORMALMOWING / NEXTLANE Dir 1 State changed at 522523 From state LANEROL1 18:22:15 NORMALMOWING / LANEROL1 Dir 1 State changed at 518984 From state POUTREV 18:22:13 NORMALMOWING / POUTREV Dir 1 State changed at 517189 From state POUTSTOP 18:22:13 Timer 2 startmin 1084 stopmin 1351 currmin 1102 18:22:13 checktimer 18:22:13 NORMALMOWING / POUTSTOP Dir 1 State changed at 516306 From state FRWODO 18:22:13 Perimeter trigger at : 516306 18:21:35 NORMALMOWING / FRWODO Dir 1 State changed at 478496 From state LANEROL2 18:21:34 NORMALMOWING / LANEROL2 Dir 0 State changed at 477388 From state NEXTLANE 18:21:32 NORMALMOWING / NEXTLANE Dir 0 State changed at 475237 From state LANEROL1 18:21:28 NORMALMOWING / LANEROL1 Dir 0 State changed at 472167 From state POUTREV 18:21:26 NORMALMOWING / POUTREV Dir 0 State changed at 470225 From state POUTSTOP 18:21:26 NORMALMOWING / POUTSTOP Dir 0 State changed at 469447 From state FRWODO 18:21:26 Perimeter trigger at : 469447 18:20:52 WARNING PROTECTION ON RIGHT MOTOR motorRightPWMCurr=-48 pwmRight=79 On state FRWODO 18:20:52 NORMALMOWING / FRWODO Dir 1 State changed at 435519 From state LANEROL2 18:20:52 Warning can t make the roll2 in time 18:20:48 NORMALMOWING / LANEROL2 Dir 1 State changed at 431424 From state NEXTLANE 18:20:46 NORMALMOWING / NEXTLANE Dir 1 State changed at 429440 From state LANEROL1 18:20:43 NORMALMOWING / LANEROL1 Dir 1 State changed at 426256 From state POUTREV 18:20:41 NORMALMOWING / POUTREV Dir 1 State changed at 424359 From state POUTSTOP 18:20:40 Timer 2 startmin 1084 stopmin 1351 currmin 1100 18:20:40 checktimer 18:20:40 NORMALMOWING / POUTSTOP Dir 1 State changed at 423547 From state FRWODO 18:20:40 Perimeter trigger at : 423547 18:20:02 NORMALMOWING / FRWODO Dir 1 State changed at 386009 From state LANEROL2 18:20:01 NORMALMOWING / LANEROL2 Dir 0 State changed at 384750 From state NEXTLANE 18:19:59 NORMALMOWING / NEXTLANE Dir 0 State changed at 382976 From state LANEROL1 18:19:56 NORMALMOWING / LANEROL1 Dir 0 State changed at 379714 From state POUTREV 18:19:54 NORMALMOWING / POUTREV Dir 0 State changed at 377715 From state POUTSTOP 18:19:53 NORMALMOWING / POUTSTOP Dir 0 State changed at 376922 From state FRWODO 18:19:53 Perimeter trigger at : 376922 18:19:22 NORMALMOWING / FRWODO Dir 0 State changed at 345643 From state AUTOCALIB 18:19:22 OK next state out rev 18:19:22 4 sec of read value, verify if the drift is stop 18:19:17 NORMALMOWING / AUTOCALIB Dir 0 State changed at 341106 From state STOPCALIB 18:19:17 NORMALMOWING / STOPCALIB Dir 0 State changed at 340933 From state ROLLTOFINDYAW 18:19:16 NORMALMOWING / ROLLTOFINDYAW Dir 0 State changed at 339466 From state FINDYAWSTOP 18:19:16 <<< <<< <<< <<< <<< << 0 18:19:16 imu.comYaw 115.24 imu.ypr.yaw 72.55 distancePI(imu.comYaw, imu.ypr.yaw) -0.43 18:19:15 NORMALMOWING / FINDYAWSTOP Dir 0 State changed at 338526 From state FRWODO 18:19:11 NORMALMOWING / FRWODO Dir 1 State changed at 334525 From state LANEROL2 18:19:09 NORMALMOWING / LANEROL2 Dir 1 State changed at 333132 From state NEXTLANE 18:19:08 NORMALMOWING / NEXTLANE Dir 1 State changed at 331360 From state LANEROL1 18:19:04 NORMALMOWING / LANEROL1 Dir 1 State changed at 327269 From state POUTREV 18:19:02 NORMALMOWING / POUTREV Dir 1 State changed at 325428 From state POUTSTOP 18:19:01 Timer 2 startmin 1084 stopmin 1351 currmin 1099 18:19:01 checktimer 18:19:01 NORMALMOWING / POUTSTOP Dir 1 State changed at 324505 From state FRWODO 18:19:01 Perimeter trigger at : 324505 18:18:49 NORMALMOWING / FRWODO Dir 1 State changed at 313135 From state STFOR 18:18:48 TRACKTOSTART / STFOR Dir 0 State changed at 311270 From state STROL 18:18:44 TRACKTOSTART / STROL Dir 0 State changed at 307945 From state TRACKSTOP 18:18:43 TRACKTOSTART / TRACKSTOP Dir 0 State changed at 306915 From state PTRK 18:18:43 Distance OK, time to start mowing into new area 2 18:18:21 TRACKTOSTART / PTRK Dir 0 State changed at 285184 From state ROLLSTOPTOTRACK 18:18:21 TRACKTOSTART / ROLLSTOPTOTRACK Dir 0 State changed at 284688 From state ROLLTOTRACK 18:18:17 TRACKTOSTART / ROLLTOTRACK Dir 0 State changed at 280934 From state STOPTOTRACK 18:18:16 TRACKTOSTART / STOPTOTRACK Dir 0 State changed at 280229 From state PFND 18:18:16 Not inside so start to track the wire 18:18:11 TRACKTOSTART / PFND Dir 1 State changed at 274199 From state WAITSIG2 18:18:11 Area In Mowing 2 Area To Go 2 18:18:10 SmoothMagnitude = 494 18:18:10 New sigcode in use : 1,1,-1,-1,1,-1,1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,1,1,-1, 18:18:10 Change to Area : 2 18:18:10 Area2 Sender is Running 18:18:10 Try to Start Area2 Sender 18:18:10 WIFI is ON 18:18:10 SmoothMagnitude = 48 18:18:09 SIGWAIT / WAITSIG2 Dir 1 State changed at 273195 From state STOPTONEWAREA 18:18:09 Start to read the Perimeter wire 18:18:09 REMOTE / STOPTONEWAREA Dir 1 State changed at 272670 From state DRIVE2TONEWAREA 18:18:07 REMOTE / DRIVE2TONEWAREA Dir 1 State changed at 270972 From state ROLL2TONEWAREA 18:18:05 REMOTE / ROLL2TONEWAREA Dir 1 State changed at 269171 From state STOPTONEWAREA 18:18:05 New Remote Heading 103.88 18:18:05 Actual Heading 13.88 18:18:05 REMOTE / STOPTONEWAREA Dir 0 State changed at 268665 From state DRIVE1TONEWAREA 18:17:38 REMOTE / DRIVE1TONEWAREA Dir 0 State changed at 241819 From state ROLL1TONEWAREA 18:17:37 REMOTE / ROLL1TONEWAREA Dir 0 State changed at 241132 From state STOPTONEWAREA 18:17:37 New Remote Heading 13.97 18:17:37 Actual Heading 51.97 18:17:37 REMOTE / STOPTONEWAREA Dir 0 State changed at 240240 From state PTRK 18:17:37 Stop to read the perimeter wire 18:17:36 Change speed for 1300 centimeter actual/Cible 3149 / 4449 18:17:36 Go to area ---> 2 18:17:36 RFID Tag find ToDO is: NEW_AREA 18:17:36 Find a tag : B0CEDB95 18:17:30 TRACKTOSTART / PTRK Dir 0 State changed at 233611 From state ROLLSTOPTOTRACK 18:17:30 TRACKTOSTART / ROLLSTOPTOTRACK Dir 0 State changed at 233284 From state ROLLTOTRACK 18:17:28 TRACKTOSTART / ROLLTOTRACK Dir 0 State changed at 231480 From state STOPTOTRACK 18:17:27 TRACKTOSTART / STOPTOTRACK Dir 0 State changed at 230917 From state PFND 18:17:27 Not inside so start to track the wire 18:16:50 TRACKTOSTART / PFND Dir 0 State changed at 193804 From state ROLLTOTAG 18:16:50 Area In Mowing 1 Area To Go 2 18:16:49 TRACKTOSTART / ROLLTOTAG Dir 0 State changed at 192884 From state STOPTOFASTSTART 18:16:49 New PeriFind Heading -49.42 18:16:49 Actual Heading -99.42 18:16:48 TRACKTOSTART / STOPTOFASTSTART Dir 0 State changed at 192194 From state PTRK 18:16:48 RFID Find faster start 18:16:48 RFID Tag find ToDO is: FAST_START 18:16:48 Find a tag : 1AD8DB95 18:16:40 Distance OK, time to reset the initial Speed : 255 18:15:40 Set New perimeter tracking speed 255 18:15:40 Change speed for 2500 centimeter actual/Cible 241 / 2741 18:15:40 Set new speed and distance : 255 18:15:40 RFID detect reduce speed Tag : 18:15:40 RFID Tag find ToDO is: SPEED 18:15:40 Find a tag : 8EB3DB95 18:15:31 TRACKTOSTART / PTRK Dir 0 State changed at 115023 From state ROLLSTOPTOTRACK 18:15:31 TRACKTOSTART / ROLLSTOPTOTRACK Dir 0 State changed at 114576 From state ROLLTOTRACK 18:15:30 TRACKTOSTART / ROLLTOTRACK Dir 1 State changed at 113281 From state STOPTOTRACK 18:15:29 TRACKTOSTART / STOPTOTRACK Dir 1 State changed at 112491 From state POBSCIRC 18:15:28 TRACKTOSTART / POBSCIRC Dir 1 State changed at 111646 From state STFOR 18:15:26 TRACKTOSTART / STFOR Dir 1 State changed at 109949 From state STROL 18:15:25 TRACKTOSTART / STROL Dir 1 State changed at 108688 From state STREV 18:15:22 Are not present in the database 18:15:22 Status : TRACK_TO_START 18:15:22 RFID Tag : 4082DA95 18:15:22 Find a tag : 4082DA95 18:15:19 TRACKTOSTART / STREV Dir 0 State changed at 102958 From state STAT 18:15:19 Distance before start 6 18:15:19 Track for area 2 18:15:19 Timer 2 start triggered 18:15:19 Timer 2 startmin 1084 stopmin 1351 currmin 1095 18:15:19 checktimer 18:14:46 STATION / STAT Dir 0 State changed at 70011 From state STCHK 18:14:46 Charge Voltage detected 18:14:45 BACKTOSTATION / STCHK Dir 0 State changed at 68511 From state PTRK 18:14:45 Detect a voltage on charging contact check if it's the station 18:14:44 Set New perimeter tracking speed 80 18:14:43 Change speed for 200 centimeter actual/Cible 123 / 323 18:14:43 Set new speed and distance : 80 18:14:43 RFID detect reduce speed Tag : 18:14:43 RFID Tag find ToDO is: SPEED 18:14:43 Find a tag : 4082DA95 18:14:38 BACKTOSTATION / PTRK Dir 0 State changed at 62182 From state ROLLSTOPTOTRACK 18:14:38 BACKTOSTATION / ROLLSTOPTOTRACK Dir 0 State changed at 61626 From state ROLLTOTRACK 18:14:36 BACKTOSTATION / ROLLTOTRACK Dir 0 State changed at 59584 From state STOPTOTRACK 18:14:35 BACKTOSTATION / STOPTOTRACK Dir 0 State changed at 58860 From state PFND 18:14:35 Not inside so start to track the wire 18:14:34 BACKTOSTATION / PFND Dir 0 State changed at 57978 From state OFF 18:14:34 Area In Mowing 1 Area To Go 1