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Azuritber can use a raspberry PI for easy tactile screen and it's now possible on Sunray: Repos link for robomow platform : https://github.com/Boilevin/Sunray/tree/robomow and the Raspberry PI interface Repos link: https://github.com/Boilevin/PiArdu-for-Sunray With Raspbery (connected on...

Did you try the Alfred link from manual ? http://grauonline.de/alexwww/ngp/2022-06-22-raspbian-stretch-bpi-m4-ngp.zip

You can also use a poly fuse, but why your software don't stop motor before fuse burn , maybe bad setting value ??? https://fr.rs-online.com/web/p/fusibles-rearmables/5176821

It's strange, but for Bumper the code is OK but certainly not optimum for fast use Interrupt on pinbumper generate one isr ,and inside that ISR we read again the pinbumper ??? void AmBumperDriver::begin(){ pinMode(pinBumperLeft, INPUT_PULLUP); pinMode(pinBumperRight...

For asm("dsb") i need to say that i don't know if it's mandatory for AGCM4 and the exact functionality , but in fast TEENSY i have made a lot of test and the result is that interrupt work better with this line of code. And if you have odometry on Mow motor , you also need to change the code like...

@konny Into amrobotdriver.cpp attachInterrupt(pinOdometryLeft, OdometryLeftISR, CHANGE); attachInterrupt(pinOdometryRight, OdometryRightISR, CHANGE); attachInterrupt(pinMotorMowRpm, OdometryMowISR, CHANGE); if you want to reduce the ticks interrupt ISR you can replace the "CHANGE" in the...

into amrobotdriver.cpp replace the odometry ISR function by this code : void OdometryLeftISR(){ odomTicksLeft++; asm("dsb"); } void OdometryRightISR(){ odomTicksRight++; asm("dsb"); } into motor.cpp the test part use this code to add a timeout on the 10...

In my case it help a little, Also take care of the Xbee antenna connector.Male small pin inside connector need a perfect contact inside the female one :ROFLMAO:

Certainly Teensy is actually the most easy and powerfull to use (buildin Rtc /sd card /off on facture etc .....) For PowerPcb and raspberry pi compatibility: 2 i2c is not complex to solve , simple solution using other gpio is on instructable internet site. Possible redrawing of mainPcb using...

Maybe nor what your issue but i already see that mowstate bad behaviour : https://github.com/Ardumower/Sunray/issues/142

Possible issue is the very slow speed when mower is near a waypoint (<50cm) : in this case firmware adjust speed automatically at 0.1 m/s and if motor don't have enough torque to rotate a very low PWM the motor PWM PID react with stanley control in a looping bad process. So you need to try to...

Certainly I2C bus issue. Check that all the I2C jumper are not shorted Using Kicad you can follow the bus and isolate all the I2C ship or find and replace the not working one and use a DS3231 RTC and connect IMU on I2C1 secondary bus.

Sorry i am going to see that the config.h is in the gitignore file. Change are made , it's now OK ,so you can compare with your config

WARNING : IT'S NOT THE STANDARD SUNRAY FIRMWARE Mowing speed is update ,mow motor don't stop on bumper or slipping Etc..... You have certainly done the AT+E test for standard sunray code and the ticksperrevolution is OK , but are you sure that wheel diameters and the distance between the 2...

Here a link to code i use in the RL1000 mower. To avoid error on IMU/ODO rotation You need to setup correctly odometry ticks/rev , wheel diameters and the distance between the 2 wheels into config.h To adjust perfectly you have 3 test AT+E1 , AT+E2 and AT+E3 AT+E1 need 10 rev AT+E2 mower need...

I use: https://www.marotronics.de/simpleRTK2B-Basic-Starter-Kit-IP67-Without-headers_1 and https://www.marotronics.de/simpleRTK2B-Starter-Kit-LR-IP67_1 And i found on other site (leboncoin.fr) 2 XBEE module from ardusimple for low price. By chance everything work perfectly at first time...

ooops YES.

It's a know issue on ESP32 : After too many re-connection wifi.scanNetwork() can return (-2) value and stop to try connecting. A reboot solve the issue. To be sure : try to leave the ESP32 for one or 2 days near your access point and normally everything work well.

Variable speed according mow sense is something very important for : Update the battery lifetime. Reduce Noise. Reduce issue from vibration on all electronics etc... It can really extend the lifetime of your mower. Autonomous Mower: You have many solution: The start button is the simplest one...

Certainly wheel slip on the grass. The Yaw compute by the odometry is not egal to the Yaw compute by IMU at +-10 degree