slatkowski
New member
Hi everyone,
I have bought in the Marotronics shop:
- MA42 DC planetary gear motor 24 Volt with HallIC 30-33 RPM 8mm shaft in Marotronics shop and
- Ardumower drive wheel, 8 mm PE-HD, black, about 250 mm diameter
- PCB ver. 1.3
I'm trying to calibrate odometry: d: menu -> 2: test odometry -> s: stop -> o: one revolution.
When I try to calibrate odometry and turn the wheel one revolution I have two symptoms:
1. With default settings (Azurit firmware) the wheel is turning almost 1,5 revolutions which is wrong.
2. With calibrated manually setting named "Ticks by revolution" to 342 I got exactly one full revolution which is good but when I start Ardumower in auto mode it stops after 10-20 seconds and the wheels seems to have some malfunction: it pulls the wheels with different speeds and then stops with some error.
I'd expect to calibrate the odometry by setting "Ticks by revolution" to 342 and have the Ardumower working correctly in Auto mode.
Does anyone know how to set up odometry for the standard motor and wheels you could buy in the Marotronics shop?
Could you point me any guide on how to set up the odometry? I haven't found any useful article on the Ardumower Wiki :-/
I plan to connect the GY-801 gyroscope module that's why I suppose this is very important to calibrate the odometry correctly to have it working.
My settings are:
START
Ardumower 1.0a9-Azurit PCB 1.3 Arduino Due IOREF=3.30
Robot: Ardumower
---------- wheel motors --------------------------------------
motorAccel : 1000.00
motorSpeedMaxRpm : 31
motorSpeedMaxPwm : 255
motorPowerMax : 75.00
motorSenseRightScale : 6.15
motorSenseLeftScale : 6.15
motorPowerIgnoreTime : 2000
motorZeroSettleTime : 3000
motorRollTimeMax : 1500
motorRollTimeMin : 750
motorReverseTime : 1200
motorForwTimeMax : 80000
motorBiDirSpeedRatio1 : 0.30
motorBiDirSpeedRatio2 : 0.92
motorLeftPID.Kp : 1.50
motorLeftPID.Ki : 2.40
motorLeftPID.Kd : 0.25
motorRightSwapDir : 0
motorLeftSwapDir : 0
---------- mower motor ---------------------------------------
motorMowForceOff : 0
motorMowAccel : 2000.00
motorMowSpeedMaxPwm : 255
motorMowPowerMax : 75.00
motorMowModulate : 0
motorMowRPMSet : 3300
motorMowSenseScale : 6.15
motorMowPID.Kp : 0.00
motorMowPID.Ki : 0.01
motorMowPID.Kd : 0.01
---------- motorMowModulate Interrupt ------------------------
motorMowModulate Interrupt :
(...)
---------- odometry ------------------------------------------
odometryUse : 1
twoWayOdometrySensorUse : 0
odometryTicksPerRevolution : 511
odometryTicksPerCm : 3.30
odometryWheelBaseCm : 47.50
---------- Odometry Interrupt ---------------------------------
oneway left : Oneway right : twoway left : twoway right :
(...)
DONE
Thanks in advance!
--
Szymon
I have bought in the Marotronics shop:
- MA42 DC planetary gear motor 24 Volt with HallIC 30-33 RPM 8mm shaft in Marotronics shop and
- Ardumower drive wheel, 8 mm PE-HD, black, about 250 mm diameter
- PCB ver. 1.3
I'm trying to calibrate odometry: d: menu -> 2: test odometry -> s: stop -> o: one revolution.
When I try to calibrate odometry and turn the wheel one revolution I have two symptoms:
1. With default settings (Azurit firmware) the wheel is turning almost 1,5 revolutions which is wrong.
2. With calibrated manually setting named "Ticks by revolution" to 342 I got exactly one full revolution which is good but when I start Ardumower in auto mode it stops after 10-20 seconds and the wheels seems to have some malfunction: it pulls the wheels with different speeds and then stops with some error.
I'd expect to calibrate the odometry by setting "Ticks by revolution" to 342 and have the Ardumower working correctly in Auto mode.
Does anyone know how to set up odometry for the standard motor and wheels you could buy in the Marotronics shop?
Could you point me any guide on how to set up the odometry? I haven't found any useful article on the Ardumower Wiki :-/
I plan to connect the GY-801 gyroscope module that's why I suppose this is very important to calibrate the odometry correctly to have it working.
My settings are:
START
Ardumower 1.0a9-Azurit PCB 1.3 Arduino Due IOREF=3.30
Robot: Ardumower
---------- wheel motors --------------------------------------
motorAccel : 1000.00
motorSpeedMaxRpm : 31
motorSpeedMaxPwm : 255
motorPowerMax : 75.00
motorSenseRightScale : 6.15
motorSenseLeftScale : 6.15
motorPowerIgnoreTime : 2000
motorZeroSettleTime : 3000
motorRollTimeMax : 1500
motorRollTimeMin : 750
motorReverseTime : 1200
motorForwTimeMax : 80000
motorBiDirSpeedRatio1 : 0.30
motorBiDirSpeedRatio2 : 0.92
motorLeftPID.Kp : 1.50
motorLeftPID.Ki : 2.40
motorLeftPID.Kd : 0.25
motorRightSwapDir : 0
motorLeftSwapDir : 0
---------- mower motor ---------------------------------------
motorMowForceOff : 0
motorMowAccel : 2000.00
motorMowSpeedMaxPwm : 255
motorMowPowerMax : 75.00
motorMowModulate : 0
motorMowRPMSet : 3300
motorMowSenseScale : 6.15
motorMowPID.Kp : 0.00
motorMowPID.Ki : 0.01
motorMowPID.Kd : 0.01
---------- motorMowModulate Interrupt ------------------------
motorMowModulate Interrupt :
(...)
---------- odometry ------------------------------------------
odometryUse : 1
twoWayOdometrySensorUse : 0
odometryTicksPerRevolution : 511
odometryTicksPerCm : 3.30
odometryWheelBaseCm : 47.50
---------- Odometry Interrupt ---------------------------------
oneway left : Oneway right : twoway left : twoway right :
(...)
DONE
Thanks in advance!
--
Szymon