Ardumower Software "Sunray"

[bernard]

Hi Alexander.
I have received the GY88 but connection between PC and Arduino don't work..
I don't understand
ON the PC the BT return 2 Port COM
COM5 Entrant Ardumower
COM6 Sortant Ardumower 'Dev D'

In Processing Sunray if i put COM5 or COM6 the Prog start (The BT led on the PCB1.3 come ON) but i can't change nothing and The Console return nothing.

In Config.h i have

// ------- baudrates---------------------------------
#define ROBOTMSG_BAUDRATE    115200       // baudrate used for console
//#define ROBOTMSG_BAUDRATE    921600  // baudrate used for console
#define PFODAPP_BAUDRATE  19200 
#define RANGING_BAUDRATE  115200       // baudrate for ranging module (DW1000)
#define BLUETOOTH_PIN       1234


#define ROBOTMSG Serial2
#define PFODAPP Serial2
#define BLUETOOTH Serial2
#define RANGING Serial3

#define DEBUG(x) ROBOTMSG.print(x)
#define DEBUGLN(x) ROBOTMSG.println(x)

Why the PFODAPP_BAUDRATE is 19200 and different as the ROBOTMSG_BAUDRATE ?

If i replace #define ROBOTMSG Serial2 by #define ROBOTMSG Serial
I can see the status of mower in the Arduino Ide and no Error message.

testing DS1307...success
ADCMan: found calib data
SETUP
enableCharging 0
IMU error: no calib data
A_1=
1.45  0.00  -0.02
0.00  1.51  0.01
-0.02  0.01  1.62
B=
-185.70
35.18
-342.41
accelCal=424,62143,1335
HMC5883L ID=72
MPU6050 ID=104
gyro_rate=100
  gyro_fsr=2000
dps  accel_fsr=2g
IMU runSelfTest - accelSelfTest=0
mpu_set_gyro_bias_reg (delta)=1,-13,11
accelreg=424,62143,1336
matchSignal size=24
subSample=4
capture size=192
clearOutline
Map error: no map
distributeParticlesOutline
freeRam=0
ModelReceiver::begin
---ADC---
conversions=0
sampleRate=38462
AD0	sampleCount=1	autoCalibrate=0	zeroOfs=0
AD1	sampleCount=1	autoCalibrate=0	zeroOfs=0
AD2	sampleCount=1	autoCalibrate=0	zeroOfs=0
AD3	sampleCount=1	autoCalibrate=0	zeroOfs=0
AD4	sampleCount=192	autoCalibrate=1	zeroOfs=3011
AD5	sampleCount=192	autoCalibrate=1	zeroOfs=3012
AD8	sampleCount=1	autoCalibrate=0	zeroOfs=0
AD9	sampleCount=1	autoCalibrate=0	zeroOfs=0
BUMPER RELEASED
!88,0,0.00,0.00,0.00,0,0,0
!01,4837,0,0,0,0,0.00,0.00,0,0,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.068,0.000,0.000,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,5,0,0,0.00,120,70,0,0
!01,5847,0,97,0,0,0.00,0.00,32,-3,-0.098,0.252,-1.100,-0.136,-0.181,0.796,0.577,0.394,-0.182,0.921,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.32,5,0,0,0.00,32,70,70,70
!01,6848,0,96,0,0,0.00,0.00,31,-2,-0.152,0.210,-0.923,0.151,-0.210,0.914,0.347,0.319,-0.212,1.153,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.33,5,0,0,0.00,32,70,70,70
!01,7850,0,97,0,0,0.00,0.00,33,-3,-0.167,0.204,-0.898,0.235,-0.215,0.932,0.290,0.299,-0.217,1.201,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.32,5,0,0,0.00,32,70,70,70
!01,8852,0,97,0,0,0.00,0.00,30,-3,-0.172,0.204,-0.891,0.250,-0.217,0.936,0.277,0.294,-0.218,1.211,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.34,5,0,0,0.00,32,70,70,70
!01,9852,0,96,0,0,0.00,0.00,32,3,-0.175,0.201,-0.890,0.254,-0.217,0.937,0.274,0.293,-0.218,1.214,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.36,5,0,0,0.00,32,70,70,70
!01,10852,0,95,0,0,0.00,0.00,32,-3,-0.176,0.203,-0.890,0.254,-0.216,0.937,0.273,0.293,-0.218,1.215,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.35,5,0,0,0.00,32,70,70,70
!01,11854,0,95,0,0,0.00,0.00,31,4,-0.179,0.201,-0.890,0.256,-0.217,0.937,0.273,0.294,-0.219,1.214,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.35,5,0,0,0.00,32,70,70,70
!01,12855,0,96,0,0,0.00,0.00,29,-3,-0.180,0.199,-0.889,0.252,-0.217,0.937,0.273,0.293,-0.218,1.215,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.32,5,0,0,0.00,32,70,70,70
!01,13856,0,96,0,0,0.00,0.00,32,4,-0.182,0.199,-0.893,0.256,-0.217,0.937,0.273,0.293,-0.218,1.215,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.32,5,0,0,0.00,32,70,70,70
setPaused=1
startGyroCalibration
!01,14857,1,96,0,0,0.00,0.00,29,-3,-0.184,0.201,-0.889,0.257,-0.217,0.937,0.274,0.294,-0.219,1.214,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.33,5,1,0,0.00,32,70,70,70
!01,15857,1,97,0,0,0.00,0.00,32,3,-0.186,0.199,-0.891,0.262,-0.217,0.937,0.273,0.293,-0.218,1.215,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,26.33,5,1,0,0.00,32,70,70,70

I miss something but What ??????.