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Azuritber Problem langsame Reaktion auf Bumper und Perimeter

Hi Bernard,
at last i see a stable mower. A couple of runs without any errors or other hickups.
I wraped the mower motor with aluminium foil. Not sure if this cured the RTC Errors but since i had no more issues.
I am realy happy with the parallel lane feature.
One thing i detected is that the lane length is not used constantly. At the moment it is set to 11m the garden is more than 14m in all direction and it is moving till the perimeter triggers.

I am not sure but i think it makes this not in all of the three lane setups.
Must check this but at the moment we have rainy wether.

Michael
 
At the moment it is set to 11m the garden is more than 14m
Zum Vergrößern anklicken....

Check the ticks/cm into odometry setting.
Check the test ODO 3 meter forward.

And last test use bylane with only 7m max length ,so you can easily understand how it's work.
Do not hesitate to change in real time laneNr and NextRollDir while mowing to see what's append

The max lane length is always check into one direction (for example when heading is >0) to be sure that mower return on the wire, but it work on the 3 lanes heading.
 
So today i had 2 times IMU COM Error. After a new reboot it worked again.
In Lane 1 it ignored the max lane length in both directions, in Lane 2 it respectet the setting of 7m in one direction.
Just have to test lane 3
 
startetd from the station it ignored the 7m settings for lane 1 and two. then i reduced to 3 and it drove3m changed to 7 and i drove the 7m.
Will load up video to youtube.
I also reduced the length of the gy521 cable to 3cm. maybe this helps for the IMU com / RTC Errors
 
is the bumper active while tracking the perimeter/going to station. It looks like it ignores it and stops over Motor power when hitting an obstacle.
 
michelko schrieb:
is the bumper active while tracking the perimeter/going to station
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Normaly Yes.But while tracking and bump on something mower do a station check and try to go forward for the distance you have set in the setting (if the distance is big motor is overload and mower do other stuf)
Try to reduce the factory setting from 2 cm to 0.
Reverse distance , roll angle and accel after roll are setting used to avoid the obstacle.

michelko schrieb:
It looks like it ignores it and stops over Motor power when hitting an obstacle.
Zum Vergrößern anklicken....
All what you describe and your video for by lane not stopping seam to show an ODOMETRY issue.

Can you share your setting (connect PC and into arduino ide console use option d and x to see the setting)

What is the result of the test ODO 3 meters forward (repeat it 3 or 4 times to be sure mower always stop at 3 meters (+-10cm) ?
The ticks/cm is very important to have the correct 3 meters forward.
 
Here are the settings

---------- wheel motors -----------
motorAccel : 1500
motorSpeedMaxRpm : 21
motorSpeedMaxPwm : 160
motorPowerMax : 26.00
motorSenseRightScale : 1.87
motorSenseLeftScale : 1.87
motorPowerIgnoreTime : 400
motorZeroSettleTime : 2000
motorRollDegMax : 70
motorRollDegMin : 20
DistPeriOutRev : 40
DistPeriOutStop : 22
motorForwTimeMax : 80000
DistPeriObstacleAvoid : 171
circleTimeForObstacle : 4000
motorRightOffsetFwd : -6
motorRightOffsetRev : -3
SpeedOdoMin : 50
SpeedOdoMax : 140
motorTickPerSecond : 268
motorLeftPID.Kp : 0.32
motorLeftPID.Ki : 0.40
motorLeftPID.Kd : 0.00
motorRightSwapDir : 0
motorLeftSwapDir : 0
motorRightOffsetFwd : -6
motorRightOffsetRev : -3
autoAdjustSlopeSpeed : 1
---------- mower motor -----------------
motorMowForceOff : 0
motorMowAccel : 1000.00
motorMowSpeedMaxPwm : 255
(motorMowSpeedMinPwm : 220
motorMowPowerMax : 60.00
motorMowSenseScale : 1.54
---------- bumper -----------------
bumperUse : 1
---------- drop -----------------
dropUse : 0
dropContact : 0
---------- rain ----------------
rainUse : 0
---------- DHT22 Temperature ---
DHT22Use : 0
MaxTemperature : 55.00
---------- sonar ---------------
sonarUse : 0
sonarLikeBumper : 0
sonarLeftUse : 1
sonarRightUse : 1
sonarCenterUse : 0
sonarTriggerBelow : 87
sonarToFrontDist : 30
---------- perimeter ------
perimeterUse : 1
perimeterTriggerMinSmag : 140
MaxSpeedperiPwm : 145
perimeterTrackRollTime : 1500
perimeterTrackRevTime : 2200
perimeterPID.Kp : 9.90
perimeterPID.Ki : 8.00
perimeterPID.Kd : 0.00
trackingPerimeterTransitionTimeOut: 1500
trackingErrorTimeOut : 10000
perimeterMagMaxValue : 2304
swapCoilPolarityRight : 0
swapCoilPolarityLeft : 0
read2Coil : 0
trackingBlockInnerWheelWhilePerimeterStrug : 1
DistPeriOutRev : 40
DistPeriObstacleRev : 30
DistPeriOutForw : 60
DistPeriObstacleForw : 25
---------- By Lanes mowing ----------
yawSet1 : 60.00
yawSet2 : 90.00
yawSet3 : 132.00
yawOppositeLane1RollRight : -119.00
yawOppositeLane2RollRight : -88.00
yawOppositeLane3RollRight : -47.00
yawOppositeLane1RollLeft : -119.00
yawOppositeLane2RollLeft : -92.00
yawOppositeLane3RollLeft : -50.00
DistBetweenLane : 20
maxLenghtByLane : 7
---------- lawn sensor---------
lawnSensorUse : 0
---------- IMU (compass/accel/gyro) ----
imuUse : 1
CompassUse : 0
stopMotorDuringCalib : 0
imuDirPID.Kp : 4.40
imuDirPID.Ki : 3.30
imuDirPID.Kd : 0.00
maxDriftPerSecond : 0.05
delayBetweenTwoDmpAutocalib : 360
maxDurationDmpAutocalib : 60
compassRollSpeedCoeff : 40
---------- model R/C ---------
remoteUse : 0
---------- battery --------
batMonitor : 1
batGoHomeIfBelow : 24.30
batSwitchOffIfBelow : 23.00
batSwitchOffIfIdle : 300
batFactor : 11.18
batChgFactor : 11.18
batFull : 29.40
batChargingCurrentMax: 2.00
batFullCurrent : 0.10
startChargingIfBelow : 28.50
chargingTimeout : 25200000
chgSenseZero : 511.00
batSenseFactor : 0.61
chgSense : 185.00
chgChange : 0
chgNull : 2
---------- charging station ----------------------------------
stationRevDist : 168
stationRollAngle : 119
stationForwDist : 30
stationCheckDist : 0
UseBumperDock : 0
dockingSpeed : 60
autoResetActive : 1
---------- odometry ------------------------------------------
odometryTicksPerRevolution : 690
odometryTicksPerCm : 8.50
odometryWheelBaseCm : 40.20
---------- GPS -----------------------------------------------
gpsUse : 0
stuckIfGpsSpeedBelow : 0.20
gpsBaudrate : 9600
---------- RFID -----------
rfidUse : 0
---------- RASPBERRY PI------
RaspberryPIUse : 0
---------- other ------------
buttonUse : 1
mowPatternDurationMax : 40
---------- user-defined switch -------
userSwitch1 : 0
userSwitch2 : 0
userSwitch3 : 0
---------- timer -----------
timerUse : 1
---------- bluetooth-----------------------------------------
bluetoothuse : 0
---------- esp8266 ------------------------------------------
esp8266Use : 1
esp8266ConfigString : 1234567321
---------- robot stats ---------------------------------------
statsMowTimeMinutesTrip : 211
statsMowTimeMinutesTotal : 2766
statsBatteryChargingCounterTotal : 19
statsBatteryChargingCapacityTrip in mAh : 18.60
statsBatteryChargingCapacityTotal in Ah : 13.56
statsBatteryChargingCapacityAverage in mAh : 713.49
DONE
 
Hie bernard,
i started testing the Timer function. Now i found that it don´t start the mowing motor every time. A couple of days before and also today i found the mower driving its lanes with deactivated Mow Motor. I had to start the mow motor over the app.
This had never appeared when i started the Mower manualy
 
This is possible if tracking fail because drive motor power or something else.
And it is the same on your bylane mowing.
Can you try to increase the motor drive power .See wiki and I try to do a video to explain how to find the correct setting. Into manual mower need to stop before wheel slip but not on slope or too soon.

Also the mow motor setting certainly not ok.
What is the mow power on low grass ?
You need to have a bigger difference between the min and max pwm ..
Try to set 150 as min pwm and reduce the powermax slowly until you hear the motor accelerate .
If you continue to reduce the power , spirale need to start and if continue to reduce again , mow motor stop for the next 3 minutes.

The mow powermax is big in your case and maybe spirale never start also the motor driver is not software protected.
 
bernard schrieb:
This is possible if tracking fail because drive motor power or something else.
And it is the same on your bylane mowing.
Can you try to increase the motor drive power .See wiki and I try to do a video to explain how to find the correct setting. Into manual mower need to stop before wheel slip but not on slope or too soon.

Also the mow motor setting certainly not ok.
What is the mow power on low grass ?
You need to have a bigger difference between the min and max pwm ..
Try to set 150 as min pwm and reduce the powermax slowly until you hear the motor accelerate .
If you continue to reduce the power , spirale need to start and if continue to reduce again , mow motor stop for the next 3 minutes.

The mow powermax is big in your case and maybe spirale never start also the motor driver is not software protected.
Zum Vergrößern anklicken....
I dont understand why this should be a problem of the drive motors. When starting the mower from station with the button "start now in auto mode" it allways turns on the mower motor. It also tracks the perimeter a while and then starts mowing.
I had several times starting over the timer i found it just driving lanes without mowing motor.
 
I dont understand why this should be a problem of the drive motors.
Zum Vergrößern anklicken....
I need to see what 's append because a test on my side with the motor power simply generate obstacle avoid and continue tracking after reach again the perimeter
Maybe mower tracking fail but if it's inside at the fail, mowing start and i forget to start the blade :LOL: :LOL: :LOL:

I try to add the mow motor start at this behaviour.

Everything is more easy to understand with the raspberry because it's write inside the console.
I need to find a way to do this with ESP32 and add 5 hours console access over wifi but need more DEV and i am not sure that it's possible.
 
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