Mein Ardumower bleibt immer mal wieder sporadisch stehen und piepst vor sich hin, habe vorhin mal mit
Arduino reingeschaut was er da von sich gibt, kann am Mähtmotrtreiber liegen oder auch an der Software. Kann ich leider nicht wirklich beurteilen. Und sporadisch bleibt er einfach stehen und in der APP steht IDLE.
COMM CRC ERROR: #6l5mqZrt
0:15:16 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=192459 sp=DFAC9 bat=24.54,-0.001(0.25) chg=0.19(0.03) diff=-24.380 tg=20.09,14.95 x=19.69 y=14.92 delta=2.37 tow=151073200 lon=9.49449512 lat=49.14522313 h=301.7 n=14.92 e=19.69 d=1.75 sol=2 age=0.24
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 8
0:15:21 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=192459 sp=E0E53 bat=24.53,-0.001(0.25) chg=0.15(0.03) diff=-24.382 tg=20.09,14.95 x=19.69 y=14.92 delta=2.37 tow=151078200 lon=9.49449484 lat=49.14522312 h=301.7 n=14.92 e=19.69 d=1.75 sol=2 age=0.23
COMM CRC ERROR: #6l5mqZrt
0:15:26 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=192459 sp=E21DD bat=24.54,-0.001(0.25) chg=0.19(0.03) diff=-24.375 tg=20.09,14.95 x=19.69 y=14.92 delta=2.37 tow=151083200 lon=9.49449482 lat=49.14522311 h=301.7 n=14.92 e=19.69 d=1.75 sol=2 age=0.24
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 9
0:15:31 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=192459 sp=E3566 bat=24.54,-0.000(0.25) chg=0.16(0.03) diff=-24.384 tg=20.09,14.95 x=19.69 y=14.92 delta=2.37 tow=151088200 lon=9.49449484 lat=49.14522312 h=301.7 n=14.92 e=19.69 d=1.75 sol=2 age=0.23
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
COMM CRC ERROR: #6l5mqZrt
motor fault recover counter 10
ERROR:
motor recovery failed
motor error!
MowOp:
nMotorError motorErrorCounter=3
==> changeOp:EscapeReverse(initiatedByOperator 0)->Mow
0:15:36 ctlDur=0.02 op=EscapeReverse(initiatedByOperator 0)->Mow freem=192459 sp=E48F9 bat=24.54,-0.001(0.25) chg=0.14(0.02) diff=-24.389 tg=20.09,14.95 x=19.69 y=14.93 delta=2.37 tow=151093200 lon=9.49449513 lat=49.14522290 h=301.7 n=14.93 e=19.69 d=1.75 sol=2 age=0.23
driveReverseStopTime
continue operation with virtual obstacle
addObstacle 20.37,15.20
==> changeOp:Mow(initiatedByOperator 1)
OP_MOW
Map::startMowing
findObstacleSafeMowPoint checking 20.51,17.79
findPath (19.89,14.77) (19.47,16.36)
path finder is enabled (using FLOAT_CALC)
freem=192323 allocating nodes 391 (9384 bytes)
freem=182907
starting path-finder
.finish nodes=391 duration=1099
node pt=19.47,16.36
node pt=20.09,16.15
node pt=20.57,15.80
node pt=20.97,15.40
node pt=20.97,15.00
node pt=20.57,14.60
node pt=20.17,14.60
node pt=19.89,14.77
WARN: PID unmet cycle time Ta=1.15 TaMax=0.10
WARN: PID unmet cycle time Ta=1.17 TaMax=0.10
0:15:41 ctlDur=0.03 op=Mow(initiatedByOperator 1) freem=183043 sp=E5C82 bat=24.53,-0.001(0.29) chg=0.15(0.02) diff=-24.388 tg=20.17,14.60 x=19.89 y=14.73 delta=2.38 tow=151098200 lon=9.49449785 lat=49.14522114 h=301.7 n=14.73 e=19.89 d=1.71 sol=2 age=0.23
COMM CRC ERROR: #6l5mqZrt
resetting recoverMotorFaultCounter
0:15:46 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=E700C bat=24.53,-0.001(0.28) chg=0.15(0.03) diff=-24.380 tg=20.17,14.60 x=19.89 y=14.74 delta=2.38 tow=151103200 lon=9.49449783 lat=49.14522145 h=301.7 n=14.74 e=19.89 d=1.71 sol=2 age=0.23
ERROR: mow
motor, average rpm too low: pwm=179.42 pwmLP=100.45 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 1
0:15:51 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=E8396 bat=24.53,-0.001(0.27) chg=0.16(0.03) diff=-24.381 tg=20.17,14.60 x=19.90 y=14.75 delta=2.38 tow=151108000 lon=9.49449794 lat=49.14522152 h=301.7 n=14.75 e=19.90 d=1.73 sol=2 age=0.23
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.24 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 2
COMM CRC ERROR: #6l5mqZrt
0:15:56 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=E9720 bat=24.53,-0.001(0.27) chg=0.15(0.02) diff=-24.382 tg=20.17,14.60 x=19.90 y=14.75 delta=2.38 tow=151113000 lon=9.49449794 lat=49.14522130 h=301.7 n=14.75 e=19.90 d=1.72 sol=2 age=0.23
0:16:1 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=EAAAB bat=24.54,-0.001(0.26) chg=0.14(0.02) diff=-24.383 tg=20.17,14.60 x=19.90 y=14.75 delta=2.38 tow=151118000 lon=9.49449793 lat=49.14522153 h=301.7 n=14.75 e=19.90 d=1.73 sol=2 age=0.21
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 3
0:16:6 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=EBE36 bat=24.54,-0.001(0.26) chg=0.13(0.02) diff=-24.383 tg=20.17,14.60 x=19.90 y=14.75 delta=2.38 tow=151123000 lon=9.49449792 lat=49.14522152 h=301.7 n=14.75 e=19.90 d=1.73 sol=2 age=0.22
COMM CRC ERROR: #6l5mqZrt
batTemp=15 cpuTemp=27
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.27 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
0:16:11 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=ED1C1 bat=24.54,-0.001(0.26) chg=0.15(0.02) diff=-24.383 tg=20.17,14.60 x=19.90 y=14.74 delta=2.38 tow=151128000 lon=9.49449794 lat=49.14522151 h=301.7 n=14.74 e=19.90 d=1.73 sol=2 age=0.21
motor fault recover counter 4
0:16:16 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=EE54A bat=24.54,-0.001(0.26) chg=0.14(0.03) diff=-24.383 tg=20.17,14.60 x=19.90 y=14.74 delta=2.38 tow=151133000 lon=9.49449793 lat=49.14522152 h=301.7 n=14.74 e=19.90 d=1.72 sol=2 age=0.21
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 5
0:16:21 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=EF8D5 bat=24.54,-0.001(0.26) chg=0.13(0.03) diff=-24.378 tg=20.17,14.60 x=19.90 y=14.74 delta=2.38 tow=151138000 lon=9.49449770 lat=49.14522124 h=301.7 n=14.74 e=19.90 d=1.72 sol=2 age=0.21
0:16:26 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F0C5F bat=24.53,-0.001(0.27) chg=0.16(0.03) diff=-24.381 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151143000 lon=9.49449794 lat=49.14522131 h=301.7 n=14.75 e=19.90 d=1.73 sol=2 age=0.19
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 6
0:16:31 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F1FE9 bat=24.54,-0.001(0.26) chg=0.15(0.03) diff=-24.382 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151148000 lon=9.49449794 lat=49.14522154 h=301.7 n=14.75 e=19.90 d=1.72 sol=2 age=0.18
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
0:16:36 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F3373 bat=24.54,-0.001(0.26) chg=0.14(0.03) diff=-24.385 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151153000 lon=9.49449794 lat=49.14522154 h=301.7 n=14.75 e=19.90 d=1.71 sol=2 age=0.19
motor fault recover counter 7
COMM CRC ERROR: #6l5mqZrt
0:16:41 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F46FC bat=24.54,-0.001(0.26) chg=0.15(0.03) diff=-24.381 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151158000 lon=9.49449794 lat=49.14522155 h=301.7 n=14.75 e=19.90 d=1.71 sol=2 age=0.19
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 8
0:16:46 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F5A85 bat=24.54,-0.001(0.26) chg=0.15(0.03) diff=-24.387 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151163000 lon=9.49449771 lat=49.14522155 h=301.7 n=14.75 e=19.90 d=1.71 sol=2 age=0.18
COMM CRC ERROR: #6l5mqZrt
0:16:51 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F6E0E bat=24.54,-0.001(0.26) chg=0.14(0.02) diff=-24.392 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151168000 lon=9.49449772 lat=49.14522131 h=301.7 n=14.75 e=19.90 d=1.72 sol=2 age=0.17
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 9
0:16:56 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=F8197 bat=24.54,-0.001(0.26) chg=0.16(0.03) diff=-24.391 tg=20.17,14.60 x=19.90 y=14.75 delta=2.39 tow=151173000 lon=9.49449792 lat=49.14522155 h=301.7 n=14.75 e=19.90 d=1.70 sol=2 age=0.15
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 10
ERROR:
motor recovery failed
motor error!
MowOp:
nMotorError motorErrorCounter=4
==> changeOp:EscapeReverse(initiatedByOperator 0)->Mow
0:17:1 ctlDur=0.02 op=EscapeReverse(initiatedByOperator 0)->Mow freem=183043 sp=F9522 bat=24.54,-0.001(0.26) chg=0.13(0.02) diff=-24.393 tg=20.17,14.60 x=19.91 y=14.74 delta=2.39 tow=151178000 lon=9.49449773 lat=49.14522154 h=301.7 n=14.75 e=19.90 d=1.71 sol=2 age=0.16
driveReverseStopTime
continue operation with virtual obstacle
addObstacle 20.67,14.88
==> changeOp:Mow(initiatedByOperator 1)
OP_MOW
Map::startMowing
findObstacleSafeMowPoint checking 20.51,17.79
findPath (20.09,14.56) (19.47,16.36)
path finder is enabled (using FLOAT_CALC)
freem=182907 allocating nodes 399 (9576 bytes)
freem=182907
starting path-finder
.finish nodes=399 duration=1270
node pt=19.47,16.36
node pt=20.09,16.15
node pt=20.57,15.80
node pt=21.26,15.07
node pt=21.26,14.67
node pt=20.86,14.27
node pt=20.46,14.27
node pt=20.09,14.56
WARN: PID unmet cycle time Ta=1.32 TaMax=0.10
WARN: PID unmet cycle time Ta=1.33 TaMax=0.10
0:17:6 ctlDur=0.03 op=Mow(initiatedByOperator 1) freem=183043 sp=FA8AD bat=24.53,-0.001(0.29) chg=0.14(0.02) diff=-24.391 tg=20.46,14.27 x=20.10 y=14.55 delta=2.38 tow=151183000 lon=9.49450041 lat=49.14521951 h=301.7 n=14.55 e=20.10 d=1.70 sol=2 age=0.15
COMM CRC ERROR: #6l5mqZrt
batTemp=15 cpuTemp=27
resetting recoverMotorFaultCounter
0:17:11 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=FBC37 bat=24.53,-0.001(0.28) chg=0.14(0.03) diff=-24.389 tg=20.46,14.27 x=20.10 y=14.55 delta=2.38 tow=151188000 lon=9.49450043 lat=49.14521954 h=301.7 n=14.55 e=20.10 d=1.71 sol=2 age=0.16
ERROR: mow
motor, average rpm too low: pwm=-179.42 pwmLP=-100.45 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 1
0:17:16 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=FCFC1 bat=24.53,-0.001(0.27) chg=0.14(0.02) diff=-24.388 tg=20.46,14.27 x=20.10 y=14.55 delta=2.38 tow=151193000 lon=9.49450040 lat=49.14521953 h=301.7 n=14.55 e=20.10 d=1.70 sol=2 age=0.14
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.24 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 2
0:17:21 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=FE34B bat=24.54,-0.001(0.26) chg=0.15(0.03) diff=-24.389 tg=20.46,14.27 x=20.10 y=14.56 delta=2.38 tow=151198000 lon=9.49450043 lat=49.14521982 h=301.7 n=14.56 e=20.10 d=1.70 sol=2 age=0.13
0:17:26 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=FF6D6 bat=24.54,-0.001(0.26) chg=0.14(0.03) diff=-24.395 tg=20.46,14.27 x=20.09 y=14.55 delta=2.38 tow=151203000 lon=9.49450062 lat=49.14521954 h=301.7 n=14.55 e=20.09 d=1.70 sol=2 age=0.15
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 3
0:17:31 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=100A60 bat=24.54,-0.000(0.26) chg=0.14(0.02) diff=-24.399 tg=20.46,14.27 x=20.10 y=14.56 delta=2.38 tow=151208000 lon=9.49450041 lat=49.14521981 h=301.7 n=14.56 e=20.10 d=1.70 sol=2 age=0.14
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.27 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
0:17:36 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=101DE9 bat=24.54,-0.000(0.26) chg=0.14(0.03) diff=-24.397 tg=20.46,14.27 x=20.10 y=14.56 delta=2.38 tow=151213000 lon=9.49450065 lat=49.14521982 h=301.7 n=14.56 e=20.10 d=1.70 sol=2 age=0.12
motor fault recover counter 4
COMM CRC ERROR: #6l5mqZrt
0:17:41 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=103172 bat=24.54,-0.000(0.26) chg=0.15(0.03) diff=-24.402 tg=20.46,14.27 x=20.09 y=14.56 delta=2.38 tow=151218000 lon=9.49450062 lat=49.14521983 h=301.7 n=14.56 e=20.09 d=1.69 sol=2 age=0.13
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 5
0:17:46 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=1044FD bat=24.54,-0.000(0.26) chg=0.15(0.03) diff=-24.394 tg=20.46,14.27 x=20.09 y=14.56 delta=2.38 tow=151223000 lon=9.49450062 lat=49.14521985 h=301.7 n=14.56 e=20.09 d=1.70 sol=2 age=0.11
COMM CRC ERROR: #6l5mqZrt
0:17:51 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=105887 bat=24.54,-0.001(0.26) chg=0.12(0.02) diff=-24.394 tg=20.46,14.27 x=20.10 y=14.56 delta=2.38 tow=151228000 lon=9.49450064 lat=49.14521984 h=301.7 n=14.56 e=20.10 d=1.70 sol=2 age=0.10
ERROR: mow
motor, average rpm too low: pwm=202.89 pwmLP=100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)
motor fault recover counter 6
0:17:56 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=183043 sp=106C15 bat=24.54,-0.000(0.26) chg=0.15(0.03) diff=-24.395 tg=20.46,14.27 x=20.10 y=14.56 delta=2.38 tow=151233000 lon=9.49450063 lat=49.14521983 h=301.7 n=14.56 e=20.10 d=1.70 sol=2 age=0.11
WARN: PID unmet cycle time Ta=0.10 TaMax=0.10
WARN: PID unmet cycle time Ta=0.10 TaMax=0.10
COMM CRC ERROR: #6l5mqZrt
ERROR: mow
motor, average rpm too low: pwm=-202.89 pwmLP=-100.28 rpmLP=0.00 (NOTE: choose ENABLE_RPM_FAULT_DETECTION=false in config.h, if your mowing
motor has no rpm sensor!)