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Ardumower seems drunk when mowing

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RedProbe

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Okay, I have my ardumower running now with sunray.
Controlling it with CaSSAndRA on my own PC.

Built my own RTK Base (http://rtk2go.com:2101/SNIP::MOUNTPT?baseName=REDPROBE&tk=3sY2AAhEvy3zuAYENZ3M) on a PI with ardusimple.

The thing is now... when it mows the lawn, it looks like the mower is drunk. It's not 2cm precise at all. It does have GPS fix and RTK though (from what I can see)
Today it was going right and left, leaving parts not mowed. Checked the WiFi on the XBEE for RTK, looks like it's having a good connection.

I don't get it. How can I check what might be going wrong?

I hope anyone can lead me in the right direction.

By the way, how are you experiencing the mowing height? I think it's mowing too deep, even in the motor's highest position.
Using the standard wheels.
 
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Probably your Stanley values are way Off. But this is only an explanation If your General Hardware settings are right. Is the Motor Test sucessfull and are the Odo Ticks right?
 
Its Not optimal, raise the Ticks so they do almost exactly 10 revs.
The Stanley values can be changed in the config or over the air with the orig sunray Viewer. There are p and k factors Stanley normal. If its acting fast drunken the values are probably too high. Search a wiki to understand what they are doing, its called lateral and angular gain. Only observe Mower in pathtracking for assumption of Stanley when IT has fix.

Also, for Hardware Software config the wheelbase and wheel Diameter needs to be exact. Also the Position of GPS antenna.
 
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I changed the ticks, it now exactly rotates 10 times :)
Also found the stanley values in the config. I don't think I can change them in the app, as I can only use the web version (grauonline.de/am) or Cassandra.
The app is not functioning anymore on Apple IOS.

The values of stanley are default in the config.

// stanley control for path tracking - determines gain how fast to correct for lateral path errors
#define STANLEY_CONTROL_P_NORMAL 3.0 // 3.0 for path tracking control (angular gain) when mowing
#define STANLEY_CONTROL_K_NORMAL 1.0 // 1.0 for path tracking control (lateral gain) when mowing

#define STANLEY_CONTROL_P_SLOW 3.0 // 3.0 for path tracking control (angular gain) when docking tracking
#define STANLEY_CONTROL_K_SLOW 0.1 // 0.1 for path tracking control (lateral gain) when docking tracking
 
Yes I do, and it's working fine as I can see on the serial output.
I'm testing with squares now, seems that's going a lot better.

It looks like with lines especially when turning around, the mower is off the next line. It takes time before it's back on the line.
Squares seem a lot easier for the robot as far as I can see now.
 
Yeah, it overshoots rotations which is why it made me think that there is no IMU, if IMU is working correctly you can try to change the stanley values from the grauonline page, I think someone mentioned there being some other browsers that work on IOS.

I would recommend changing the atan2 method in the stanley algorithm for a simple atan and ditching the _SLOW values if you are willing to change the code, makes slow movements more accurate.
 
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into config.h, did you activate USE_LINEAR_SPEED_RAMP

If yes test without !

Code: 
//#define USE_LINEAR_SPEED_RAMP  true      // use a speed ramp for the linear speed
#define USE_LINEAR_SPEED_RAMP  false      // do not use a speed ramp
 
WhatATest schrieb:
Yeah, it overshoots rotations which is why it made me think that there is no IMU, if IMU is working correctly you can try to change the stanley values from the grauonline page, I think someone mentioned there being some other browsers that work on IOS.

I would recommend changing the atan2 method in the stanley algorithm for a simple atan and ditching the _SLOW values if you are willing to change the code, makes slow movements more accurate.
Zum Vergrößern anklicken....
I'm willing to try a lot, but it sounds complicated! ;-)
Will check that tomorrow.

When I use the grauonline.de/am site, I can not see the stanley setting can I?
I can use the site with the Nuviu browser on IOS, it works good when using ethernet/IP.
 
The Mower Hardware and Software is capable to do very nice straight lines, even with 0.5 m/s speed
 
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