gyro read error loadSaveErrorCounters: read loadSaveErrorCounters addrstop=422 loadUserSettings EEPROM USERDATA: NO EEPROM USER DATA PLEASE CHECK AND SAVE YOUR SETTINGS loadSaveRobotStats: read loadSaveRobotStats addrstop=822 START Ardumower 1.0a7-Azurit PCB 1.3 Arduino Mega IOREF=5.00 Robot: Ardumower press... d for menu v to change console oADCMan: found calib data ---ADC calib--- ADC sampleRate=38462 AD0 min=9999 max=-9999 diff=-19998 ofs=389 AD1 min=9999 max=-9999 diff=-19998 ofs=394 AD2 min=9999 max=-9999 diff=-19998 ofs=0 AD3 min=9999 max=-9999 diff=-19998 ofs=415 AD4 min=9999 max=-9999 diff=-19998 ofs=348 AD5 min=9999 max=-9999 diff=-19998 ofs=335 AD6 min=9999 max=-9999 diff=-19998 ofs=0 AD7 min=9999 max=-9999 diff=-19998 ofs=0 AD8 min=9999 max=-9999 diff=-19998 ofs=393 AD9 min=9999 max=-9999 diff=-19998 ofs=0 AD10 min=9999 max=-9999 diff=-19998 ofs=0 AD11 min=9999 max=-9999 diff=-19998 ofs=0 AD12 min=9999 max=-9999 diff=-19998 ofs=0 AD13 min=9999 max=-9999 diff=-19998 ofs=0 AD14 min=9999 max=-9999 diff=-19998 ofs=0 AD15 min=9999 max=-9999 diff=-19998 ofs=0 SETUP matchSignal size=24 subSample=4 capture size=192 1 0 -1 0 1 -1 1 -1 0 1 -1 1 0 -1 0 1 -1 0 1 -1 0 1 0 -1 IMU error: no calib data -------- accOfs=0.00,0.00,0.00 accScale=2.00,2.00,2.00 comOfs=0.00,0.00,0.00 comScale=2.00,2.00,2.00 -------- initL3G4200D gyro read error gyro read error gyro read error loadSaveErrorCounters: read loadSaveErrorCounters addrstop=422 loadUserSettings EEPROM USERDATA: NO EEPROM USER DATA PLEASE CHECK AND SAVE YOUR SETTINGS loadSaveRobotStats: read loadSaveRobotStats addrstop=822 START Ardumower 1.0a7-Azurit PCB 1.3 Arduino Mega IOREF=5.00 Robot: Ardumower press... d for menu v to change console oADCMan: found calib data ---ADC calib--- ADC sampleRate=38462 AD0 min=9999 max=-9999 diff=-19998 ofs=389 AD1 min=9999 max=-9999 diff=-19998 ofs=394 AD2 min=9999 max=-9999 diff=-19998 ofs=0 AD3 min=9999 max=-9999 diff=-19998 ofs=415 AD4 min=9999 max=-9999 diff=-19998 ofs=348 AD5 min=9999 max=-9999 diff=-19998 ofs=335 AD6 min=9999 max=-9999 diff=-19998 ofs=0 AD7 min=9999 max=-9999 diff=-19998 ofs=0 AD8 min=9999 max=-9999 diff=-19998 ofs=393 AD9 min=9999 max=-9999 diff=-19998 ofs=0 AD10 min=9999 max=-9999 diff=-19998 ofs=0 AD11 min=9999 max=-9999 diff=-19998 ofs=0 AD12 min=9999 max=-9999 diff=-19998 ofs=0 AD13 min=9999 max=-9999 diff=-19998 ofs=0 AD14 min=9999 max=-9999 diff=-19998 ofs=0 AD15 min=9999 max=-9999 diff=-19998 ofs=0 SETUP matchSignal size=24 subSample=4 capture size=192 1 0 -1 0 1 -1 1 -1 0 1 -1 1 0 -1 0 1 -1 0 1 -1 0 1 0 -1 IMU error: no calib data -------- accOfs=0.00,0.00,0.00 accScale=2.00,2.00,2.00 comOfs=0.00,0.00,0.00 comScale=2.00,2.00,2.00 -------- initL3G4200D gyro read error gyro read error gyro read error loadSaveErrorCounters: read loadSaveErrorCounters addrstop=422 loadUserSettings EEPROM USERDATA: NO EEPROM USER DATA PLEASE CHECK AND SAVE YOUR SETTINGS loadSaveRobotStats: read loadSaveRobotStats addrstop=822 START Ardumower 1.0a7-Azurit PCB 1.3 Arduino Mega IOREF=5.00 Robot: Ardumower press... d for menu v to change console output (sensor counters, values, perimeter etc.) sen_counters MAIN MENU: 1=test motors 2=test odometry 3=communications menu 5=calibrate IMU acc next side 6=calibrate IMU com start/stop 7=delete IMU calib 8=ADC calib (perimeter sender, charger must be off) 9=save user settings c=test RTC l=load factory settings r=delete robot stats x=print settings e=delete all errors 0=exit acc calib restart... 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 0.00,0.00,0.00 side 1 of 6 completed MAIN MENU: 1=test motors 2=test odometry 3=communications menu 5=calibrate IMU acc next side 6=calibrate IMU com start/stop 7=delete IMU calib 8=ADC calib (perimeter sender, charger must be off) 9=save user settings c=test RTC l=load factory settings r=delete robot stats x=print settings e=delete all errors 0=exit ADC calibration... ADC calibration ch0=389 ADC calibration ch1=384 ADC calibration ch3=415 ADC calibration ch4=346 ADC calibration ch5=333 ADC calibration ch8=393 ---ADC calib--- ADC sampleRate=38462 AD0 min=358 max=420 diff=62 ofs=389 AD1 min=351 max=418 diff=67 ofs=384 AD2 min=9999 max=-9999 diff=-19998 ofs=0 AD3 min=410 max=421 diff=11 ofs=415 AD4 min=304 max=388 diff=84 ofs=346 AD5 min=307 max=360 diff=53 ofs=333 AD6 min=9999 max=-9999 diff=-19998 ofs=0 AD7 min=9999 max=-9999 diff=-19998 ofs=0 AD8 min=368 max=418 diff=50 ofs=393 AD9 min=9999 max=-9999 diff=-19998 ofs=0 AD10 min=9999 max=-9999 diff=-19998 ofs=0 AD11 min=9999 max=-9999 diff=-19998 ofs=0 AD12 min=9999 max=-9999 diff=-19998 ofs=0 AD13 min=9999 max=-9999 diff=-19998 ofs=0 AD14 min=9999 max=-9999 diff=-19998 ofs=0 AD15 min=9999 max=-9999 diff=-19998 ofs=0 MAIN MENU: 1=test motors 2=test odometry 3=communications menu 5=calibrate IMU acc next side 6=calibrate IMU com start/stop 7=delete IMU calib 8=ADC calib (perimeter sender, charger must be off) 9=save user settings c=test RTC l=load factory settings r=delete robot stats x=print settings e=delete all errors 0=exit ---------- wheel motors -------------------------------------- motorAccel : 1000.00 motorSpeedMaxRpm : 25 motorSpeedMaxPwm : 255 motorPowerMax : 75.00 motorSenseRightScale : 9.31 motorSenseLeftScale : 9.31 motorPowerIgnoreTime : 2000 motorZeroSettleTime : 3000 motorRollTimeMax : 1500 motorRollTimeMin : 750 motorReverseTime : 1200 motorForwTimeMax : 80000 motorBiDirSpeedRatio1 : 0.30 motorBiDirSpeedRatio2 : 0.92 motorLeftPID.Kp : 1.50 motorLeftPID.Ki : 0.29 motorLeftPID.Kd : 0.25 motorRightSwapDir : 1 motorLeftSwapDir : 1 ---------- mower motor --------------------------------------- motorMowForceOff : 0 motorMowAccel : 2000.00 motorMowSpeedMaxPwm : 255 motorMowPowerMax : 75.00 motorMowModulate : 0 motorMowRPMSet : 3300 motorMowSenseScale : 9.31 motorMowPID.Kp : 0.00 motorMowPID.Ki : 0.01 motorMowPID.Kd : 0.01 ---------- motorMowModulate Interrupt ------------------------ motorMowModulate Interrupt : 0 ---------- bumper -------------------------------------------- bumperUse : 0 ---------- drop ---------------------------------------------- dropUse : 0 dropContact : 1 ---------- rain ---------------------------------------------- rainUse : 0 ---------- sonar --------------------------------------------- sonarUse : 0 sonarLeftUse : 0 sonarRightUse : 0 sonarCenterUse : 0 sonarTriggerBelow : 0 sonarSlowBelow : 100 ---------- perimeter ----------------------------------------- perimeterUse : 0 perimeterTriggerTimeout : 0 perimeterOutRollTimeMax : 2000 perimeterOutRollTimeMin : 750 perimeterOutRevTime : 2200 perimeterTrackRollTime : 1500 perimeterTrackRevTime : 2200 perimeterPID.Kp : 51.00 perimeterPID.Ki : 12.50 perimeterPID.Kd : 0.80 trackingPerimeterTransitionTimeOut : 0 trackingErrorTimeOut : 10000 trackingBlockInnerWheelWhilePerimeterStruggling : 1 ---------- lawn sensor --------------------------------------- lawnSensorUse : 0 ---------- IMU (compass/accel/gyro) -------------------------- imuUse : 0 imuCorrectDir : 0 imuDirPID.Kp : 5.00 imuDirPID.Ki : 1.00 imuDirPID.Kd : 1.00 imuRollPID.Kp : 0.80 imuRollPID.Ki : 21.00 imuRollPID.Kd : 0.00 ---------- model R/C ----------------------------------------- remoteUse : 0 ---------- model R/C Interrupt -------------------------------- Pin 10 pinRemoteSpeed : 0 Pin 11 pinRemoteSteer : 0 Pin 12 pinRemoteMow : 0 Pin 52 pinRemoteSwitch : 1 ---------- battery ------------------------------------------- batMonitor : 1 batGoHomeIfBelow : 23.70 batSwitchOffIfBelow : 21.70 batSwitchOffIfIdle : 8 batFactor : 0.54 batChgFactor : 0.54 batFull : 29.40 batChargingCurrentMax : 1.60 batFullCurrent : 0.20 startChargingIfBelow : 32.00 chargingTimeout : 2147483647 chgFactor : 0.02 ---------- charging station ---------------------------------- stationRevTime : 1800 stationRollTime : 1000 stationForwTime : 1500 stationCheckTime : 1700 ---------- odometry ------------------------------------------ odometryUse : 0 twoWayOdometrySensorUse : 0 odometryTicksPerRevolution : 530 odometryTicksPerCm : 3.37 odometryWheelBaseCm : 36.00 ---------- Odometry Interrupt --------------------------------- oneway left : 0 Oneway right : 0 twoway left : 0 twoway right : 0 ---------- GPS ----------------------------------------------- gpsUse : 0 stuckIfGpsSpeedBelow : 0.20 gpsSpeedIgnoreTime : 5000 ---------- other --------------------------------------------- buttonUse : 1 ---------- user-defined switch ------------------------------- userSwitch1 : 0 userSwitch2 : 0 userSwitch3 : 0 ---------- timer --------------------------------------------- timerUse : 0 ---------- bluetooth----------------------------------------- bluetoothuse : 0 ---------- esp8266 ------------------------------------------ esp8266Use : 0 esp8266ConfigString : 123test321 ---------- robot stats --------------------------------------- statsMowTimeMinutesTrip : 1 statsMowTimeMinutesTotal : 33 statsBatteryChargingCounterTotal : -1 statsBatteryChargingCapacityTrip in mAh : 0.00 statsBatteryChargingCapacityTotal in Ah : 0.00 statsBatteryChargingCapacityAverage in mAh : 0.00 DONE MAIN MENU: 1=test motors 2=test odometry 3=communications menu 5=calibrate IMU acc next side 6=calibrate IMU com start/stop 7=delete IMU calib 8=ADC calib (perimeter sender, charger must be off) 9=save user settings c=test RTC l=load factory settings r=delete robot stats x=print settings e=delete all errors 0=exit resetErrorCounters loadSaveErrorCounters: write loadSaveErrorCounters addrstop=422 ALL ERRORS ARE DELETED MAIN MENU: 1=test motors 2=test odometry 3=communications menu 5=calibrate IMU acc next side 6=calibrate IMU com start/stop 7=delete IMU calib 8=ADC calib (perimeter sender, charger must be off) 9=save user settings c=test RTC l=load factory settings r=delete robot stats x=print settings e=delete all errors 0=exit ADCMan: found calib data ---ADC calib--- ADC sampleRate=38462 AD0 min=9999 max=-9999 diff=-19998 ofs=389 AD1 min=9999 max=-9999 diff=-19998 ofs=384 AD2 min=9999 max=-9999 diff=-19998 ofs=0 AD3 min=9999 max=-9999 diff=-19998 ofs=415 AD4 min=9999 max=-9999 diff=-19998 ofs=346 AD5 min=9999 max=-9999 diff=-19998 ofs=333 AD6 min=9999 max=-9999 diff=-19998 ofs=0 AD7 min=9999 max=-9999 diff=-19998 ofs=0 AD8 min=9999 max=-9999 diff=-19998 ofs=393 AD9 min=9999 max=-9999 diff=-19998 ofs=0 AD10 min=9999 max=-9999 diff=-19998 ofs=0 AD11 min=9999 max=-9999 diff=-19998 ofs=0 AD12 min=9999 max=-9999 diff=-19998 ofs=0 AD13 min=9999 max=-9999 diff=-19998 ofs=0 AD14 min=9999 max=-9999 diff=-19998 ofs=0 AD15 min=9999 max=-9999 diff=-19998 ofs=0 SETUP matchSignal size=24 subSample=4 capture size=192 1 0 -1 0 1 -1 1 -1 0 1 -1 1 0 -1 0 1 -1 0 1 -1 0 1 0 -1 IMU error: no calib data -------- accOfs=0.00,0.00,0.00 accScale=2.00,2.00,2.00 comOfs=0.00,0.00,0.00 comScale=2.00,2.00,2.00 -------- initL3G4200D gyro read error gyro read error gyro read error loadSaveErrorCounters: read loadSaveErrorCounters addrstop=422 loadUserSettings EEPROM USERDATA: NO EEPROM USER DATA PLEASE CHECK AND SAVE YOUR SETTINGS loadSaveRobotStats: read loadSaveRobotStats addrstop=822 START Ardumower 1.0a7-Azurit PCB 1.3 Arduino Mega IOREF=5.00 Robot: Ardumower press... d for menu v to change console oADCMan: found calib data ---ADC calib--- ADC sampleRate=38462 AD0 min=9999 max=-9999 diff=-19998 ofs=389 AD1 min=9999 max=-9999 diff=-19998 ofs=384 AD2 min=9999 max=-9999 diff=-19998 ofs=0 AD3 min=9999 max=-9999 diff=-19998 ofs=415 AD4 min=9999 max=-999