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Yes it's also OK for me . @W1976 If you really need the spike eliminator You can try to replace the millis() function by micro() inside the interrupt routine , but no working warranty. see ...

Concerning the AT+S command . Into config.h adding #define USE_RASPBERRY_PI true and by this way sunray firmware can send the AT+S automatically each one second without waiting a request from pi. a 1 seconde timer is the led states into robot.cpp, so you can add the cmdsummary here or create...

When Bumper is trig a new Obstacle is generate in front of mower in the AXE. But maybe it's better to put the obstacle on the right of mower if bumper right is trig and on the left if bumper left is trig ? :unsure:

You need to check with @EinEinfach and and @AlexanderG . In the actual sunray firmware a rounding in map.h generate a false point (1cm offset) by rounding from float to short. The result is different mapCRC between Cassandra and sunray . Adjust the map.h file solve the issue , so cassandra...

Not sure only Pi can work, You need a PCB for battery management and motor sense management. Also it's possible that the expander can't manage the motor driver , but only a test can confirm. If you want something simple ,take a look at the 2 teensy PCB , It's very simple (no CMS component) and...

Raspberry Pi working as access point and joystick with 4 button is OK for me on Piardu and without any new dev.

Hi Alexander . Not the good tread ,but i don't know where to post this ? Into map.h The class point , you have define the px and py as short (certainly to limit memory allocation size) // a point on the map class Point { public: short px; // cm short py; // cm Point()...

I use a GALAXY A52 over BT and sometime i also have strange behaviour (connection lost and unable to reconnect). It's append on 2 different mower, so certainly ESP32 is not the issue. To solve: Reboot the robot. Test.. Reboot the A52 and be sure that the internet connection is good over wifi...

Maybe a stupid question ,but i read on the net that GCM4 have a 8 MB QSPI Flash storage chip, so perhaps it's possible to use it instead of the SD ? PS : I don't know how

YES PRUSA is perfect , Maybe a model ;)

It's always better to not mow at the beginning of a day (wet grass) or you need to clean very often the blade ,so a timer is a good option. ;) ;)

The issue is certainly only present when millis() have a very high value and on AGCM4 or teensy because certainly millis() timer have different management than the DUE one, So people without charging station or resetting frequently mower never see this issue. On alfred it's diffrent , i...

I don't have Alfred robot ,so it's not possible for me to help in this case, But if you want to be sure that it's odometry issue you need to send the AT+E command to force mower doing the 10 rev test after 1 min start and after 10 hours. If you don't have the same exact 10 rev , there is...

1 It is normaly used to avoid noise on the high frequency input on the odometry signal, but in this case it fail to work after long duration , certainly cause by the use of millis() inside an interrupt routine . 2 The odometry is used to compute the speed of the wheel , and for dock and undock ...

Lower temp !!

Just for info , on AGCM4 : After 88 hours of mowing and station charging everything is OK (no drift or strange speed on restart from station) I use the simple odometry code with asm("dsb"), and only rising interrupt void OdometryLeftISR(){ odomTicksLeft++; asm("dsb"); }...

It's also OK for me after 44 hours in charging and 2 * 2 hours in mowing. I try to leave the mower all the week end in the charging station and i tell you if it's always OK.

Not sure if it's the double, but adding it help me a lot in the teensyber soft ,now need to see if it's the same with AGCM4 and sunray. And i can't tell why :ROFLMAO: :ROFLMAO: because i don't understand it. In the 10 rev test check always that you have a normal end at 10*ticksPerRevolution...

Take care on the 10 rev test. It's actually limited to 50 secondes without error message and the slow down at the end is very low. Here the code to solve this. void Motor::test() { CONSOLE.println("motor test - 10 revolutions"); motorLeftTicks = 0; motorRightTicks = 0; unsigned long...

Yes or no ,You can leave the rizing to CHANGE , because in all case you need to adjust the ticks / revolution into config.h ;)