Console + pfodApp irgendwie anders als gedacht

umu512 · 9 Juni 2017

Hallo zusammen,

ich habe jetzt meinen Mower soweit fertig und dachte das ich auch zufrieden sein kann, aber nun funktioniert es nicht wie ich gedacht habe.
2 Auffälligkeiten:
1. Undervoltageboard läßt den Mower nicht einschalten erst wenn ich das USB Kabel(PC) anstecke, kann ich auch über den Taster starten.
dazu habe ich garkeine Idee, vielleicht habt Ihr ja eine anregung für mich.
2. Wie muss ich die PfodApp bedienen damit ich das Manual Menue benutzen kann?
Folgendes habe ich getan: consolen Menue gestartet und Test für Motoren und Odometrie durchgeführt und alles funktioniert, dann das Menue verlassen und mich mit der pfodApp angemeldet und versucht Manuell die Motoren zu testen, allerdings geht hier dann immer der Mähmotor an und die anderen Motoren, knacken nur kurz.
Ich habe gerade versucht den Sourcecode zu verstehen, aber dann würde ich sagen ich habe hier nicht das richtige getan, da hier keine Kommandos auftauchen die ich erwartet habe.

Wahrscheinlich mache ich aber nur etwas falsch, deshalb bin ich für alle Anregungen offen
Danke schonmal.
Anbei mal die consolen Ausgaben:

Code:

ADCMan: found calib data
---ADC calib---
ADC sampleRate=38462
AD0	min=9999	max=-9999	diff=-19998	ofs=0
AD1	min=9999	max=-9999	diff=-19998	ofs=0
AD2	min=9999	max=-9999	diff=-19998	ofs=0
AD3	min=9999	max=-9999	diff=-19998	ofs=0
AD4	min=9999	max=-9999	diff=-19998	ofs=53
AD5	min=9999	max=-9999	diff=-19998	ofs=61
AD6	min=9999	max=-9999	diff=-19998	ofs=0
AD7	min=9999	max=-9999	diff=-19998	ofs=0
AD8	min=9999	max=-9999	diff=-19998	ofs=0
AD9	min=9999	max=-9999	diff=-19998	ofs=0
AD10	min=9999	max=-9999	diff=-19998	ofs=0
AD11	min=9999	max=-9999	diff=-19998	ofs=0
AD12	min=9999	max=-9999	diff=-19998	ofs=0
AD13	min=9999	max=-9999	diff=-19998	ofs=0
AD14	min=9999	max=-9999	diff=-19998	ofs=0
AD15	min=9999	max=-9999	diff=-19998	ofs=0
SETUP
matchSignal size=24
subSample=4
capture size=192
IMU error: no calib data
--------
accOfs=0.00,0.00,0.00
accScale=2.00,2.00,2.00
comOfs=0.00,0.00,0.00
comScale=2.00,2.00,2.00
--------
initL3G4200D
gyro read error
gyro read error
gyro read error
loadSaveErrorCounters: read
loadSaveErrorCounters addrstop=422
loadUserSettings
loadSaveUserSettings addrstop=264
loadSaveRobotStats: read
loadSaveRobotStats addrstop=822
START
Ardumower 1.0a7-Azurit-dev  PCB 1.3  Arduino Mega  IOREF=5.00
Config: Ardumower
press...
  d for menu
  v to change console output (sensor counters, values, perimeter etc.)
sen_counters
RTC date received: Thu 08.06.2017
t     1 l  0 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     2 l  0 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     3 l4541 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 94 Ardumower
t     4 l4571 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     5 l4564 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 94 Ardumower
t     6 l4565 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     7 l4566 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 94 Ardumower
t     8 l4567 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     9 l4571 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    10 l4559 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    11 l4570 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    12 l4562 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    13 l4571 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    14 l4558 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    15 l4572 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    16 l4568 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    17 l4565 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    18 l4566 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
sen_values
t    19 l4564 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    20 l4566 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    21 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    22 l4535 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    23 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    24 l4537 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    25 l4535 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    26 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    27 l4537 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    28 l4530 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    29 l4535 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    30 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    31 l4539 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  148 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    32 l4535 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    33 l4530 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    34 l4537 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    35 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    36 l4535 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    37 l4531 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
perimeter
t    38 l4537 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
t    39 l4530 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
t    40 l4837 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
t    41 l4840 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
t    42 l4766 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
t    43 l4837 v2 OFF  sig min    0 max    0 avg    0 mag     0 qty   0  in  1  cnt    0  on 0
off
sen_counters
t    47 l4936 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc946 Ardumower
t    48 l4802 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    49 l4558 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    50 l4569 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 95 Ardumower

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

resetErrorCounters
loadSaveErrorCounters: write
loadSaveErrorCounters addrstop=422
ALL ERRORS ARE DELETED

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

---------- wheel motors --------------------------------------
motorAccel                                 : 1000.00
motorSpeedMaxRpm                           : 25
motorSpeedMaxPwm                           : 255
motorPowerMax                              : 57.60
motorSenseRightScale                       : 257.00
motorSenseLeftScale                        : 179.00
motorPowerIgnoreTime                       : 2000
motorZeroSettleTime                        : 3000
motorRollTimeMax                           : 1500
motorRollTimeMin                           : 750
motorReverseTime                           : 1200
motorForwTimeMax                           : 49960
motorBiDirSpeedRatio1                      : 0.30
motorBiDirSpeedRatio2                      : 0.92
motorLeftPID.Kp                            : 1.50
motorLeftPID.Ki                            : 0.29
motorLeftPID.Kd                            : 0.25
motorRightSwapDir                          : 1
motorLeftSwapDir                           : 1
---------- mower motor ---------------------------------------
motorMowAccel                              : 2000.00
motorMowSpeedMaxPwm                        : 252
motorMowPowerMax                           : 55.60
motorMowModulate                           : 0
motorMowRPMSet                             : 3220
motorMowSenseScale                         : inf
motorMowPID.Kp                             : 0.00
motorMowPID.Ki                             : 0.01
motorMowPID.Kd                             : 0.01
---------- motorMowModulate Interrupt ------------------------
motorMowModulate Interrupt                 : 0
---------- bumper --------------------------------------------
bumperUse                                  : 0
---------- drop ----------------------------------------------
dropUse                                    : 0
dropContact                                : 1
---------- rain ----------------------------------------------
rainUse                                    : 0
---------- sonar ---------------------------------------------
sonarUse                                   : 1
sonarLeftUse                               : 1
sonarRightUse                              : 1
sonarCenterUse                             : 1
sonarTriggerBelow                          : 1050
---------- perimeter -----------------------------------------
perimeterUse                               : 0
perimeterTriggerTimeout                    : 0
perimeterOutRollTimeMax                    : 2000
perimeterOutRollTimeMin                    : 750
perimeterOutRevTime                        : 2200
perimeterTrackRollTime                     : 1500
perimeterTrackRevTime                      : 2200
perimeterPID.Kp                            : 51.00
perimeterPID.Ki                            : 12.50
perimeterPID.Kd                            : 0.80
trackingPerimeterTransitionTimeOut         : 2000
trackingErrorTimeOut                       : 10000
trackingBlockInnerWheelWhilePerimeterStruggling : 1
---------- lawn sensor ---------------------------------------
lawnSensorUse                              : 0
---------- IMU (compass/accel/gyro) --------------------------
imuUse                                     : 0
imuCorrectDir                              : 0
imuDirPID.Kp                               : 5.00
imuDirPID.Ki                               : 1.00
imuDirPID.Kd                               : 1.00
imuRollPID.Kp                              : 0.80
imuRollPID.Ki                              : 21.00
imuRollPID.Kd                              : 0.00
---------- model R/C -----------------------------------------
remoteUse                                  : 0
---------- model R/C Interrupt --------------------------------
Pin 10 pinRemoteSpeed                      : 0
Pin 11 pinRemoteSteer                      : 0
Pin 12 pinRemoteMow                        : 0
Pin 52 pinRemoteSwitch                     : 1
---------- battery -------------------------------------------
batMonitor                                 : 1
batGoHomeIfBelow                           : 23.70
batSwitchOffIfBelow                        : 21.70
batSwitchOffIfIdle                         : 1
batFactor                                  : 0.54
batChgFactor                               : 0.54
batFull                                    : 29.40
batChargingCurrentMax                      : 1.60
batFullCurrent                             : -99999.00
startChargingIfBelow                       : 99999.00
chargingTimeout                            : 2147483647
chgFactor                                  : 0.05
---------- charging station ----------------------------------
stationRevTime                             : 1800
stationRollTime                            : 1000
stationForwTime                            : 1500
stationCheckTime                           : 1700
---------- odometry ------------------------------------------
odometryUse                                : 1
twoWayOdometrySensorUse                    : 0
odometryTicksPerRevolution                 : 1060
odometryTicksPerCm                         : 13.50
odometryWheelBaseCm                        : 36.00
---------- Odometry Interrupt ---------------------------------
oneway left                                : 1
Oneway right                               : 1
twoway left                                : 0
twoway right                               : 0
---------- GPS -----------------------------------------------
gpsUse                                     : 0
stuckIfGpsSpeedBelow                       : 0.20
gpsSpeedIgnoreTime                         : 5000
---------- other ---------------------------------------------
buttonUse                                  : 1
---------- user-defined switch -------------------------------
userSwitch1                                : 0
userSwitch2                                : 0
userSwitch3                                : 0
---------- timer ---------------------------------------------
timerUse                                   : 1
---------- bluetooth-----------------------------------------
bluetoothuse                               : 1
---------- esp8266 ------------------------------------------
esp8266Use                                 : 0
esp8266ConfigString                        : 123test321
---------- robot stats ---------------------------------------
statsMowTimeMinutesTrip                    : 0
statsMowTimeMinutesTotal                   : 0
statsBatteryChargingCounterTotal           : 0
statsBatteryChargingCapacityTrip in mAh    : 0.00
statsBatteryChargingCapacityTotal in Ah    : 0.00
statsBatteryChargingCapacityAverage in mAh : 0.00
loadSaveRobotStats: read
loadSaveRobotStats addrstop=822
ALL USER SETTINGS ARE DELETED
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=48  right=49
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=118  right=110
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=191  right=173
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=263  right=236
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=334  right=300
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=406  right=363
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=479  right=425
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=551  right=488
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=623  right=551
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=696  right=614
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=769  right=677
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=841  right=741
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=914  right=805
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=987  right=869
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1060  right=933
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1133  right=997
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1206  right=1060
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1280  right=1124
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1354  right=1188
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1427  right=1252
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1501  right=1316
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1574  right=1379
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1647  right=1443
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1720  right=1507
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1793  right=1570
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1867  right=1633
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=1941  right=1696
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2015  right=1759
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2088  right=1822
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2162  right=1883
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2236  right=1945
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2310  right=2007
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2382  right=2069
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2456  right=2131
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2528  right=2193
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2601  right=2256
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2675  right=2320
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2750  right=2384
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2824  right=2448
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2900  right=2514
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=2974  right=2577
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3046  right=2642
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3121  right=2706
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3196  right=2772
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3270  right=2836
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3344  right=2901
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3418  right=2966
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3491  right=3031
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3564  right=3096
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3638  right=3161
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3712  right=3226
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3786  right=3291
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3860  right=3356
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=3935  right=3421
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4009  right=3485
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4083  right=3551
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4157  right=3615
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4231  right=3680
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4303  right=3743
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4377  right=3807
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4451  right=3870
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4525  right=3933
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4598  right=3996
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4673  right=4058
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4746  right=4120
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4820  right=4182
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4893  right=4245
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=4966  right=4306
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5040  right=4367
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5114  right=4430
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5188  right=4493
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5262  right=4557
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5337  right=4622
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5412  right=4687
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5486  right=4750
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5559  right=4814
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5632  right=4880
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5707  right=4945
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5781  right=5010
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5856  right=5076
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=5930  right=5141
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6005  right=5206
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6079  right=5271
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6153  right=5335
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6227  right=5400
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6301  right=5465
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6375  right=5529
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6449  right=5593
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6523  right=5657
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6598  right=5722
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6671  right=5787
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6745  right=5851
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6819  right=5917
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6893  right=5980
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=6967  right=6044
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7041  right=6107
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7115  right=6169
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7189  right=6231
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7263  right=6293
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7337  right=6354
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7411  right=6416
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7484  right=6479
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7561  right=6545
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7634  right=6608
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7706  right=6674
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7781  right=6739
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7855  right=6805
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=7929  right=6868
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8003  right=6932
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8077  right=6996
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8151  right=7060
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8225  right=7126
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8299  right=7192
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8373  right=7257
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8448  right=7323
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8522  right=7388
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8595  right=7453
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8668  right=7518
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8742  right=7584
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8815  right=7649
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8889  right=7714
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=8963  right=7778
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=9037  right=7842
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=9111  right=7907
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=9185  right=7969
Press'f' forward, 'r' reverse, 'z' reset, 's' stop, 'o' one revolution, '0' exit  left=9191  right=7970

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

USER SETTINGS ARE SAVED
loadSaveUserSettings addrstop=264

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

---------- wheel motors --------------------------------------
motorAccel                                 : 1000.00
motorSpeedMaxRpm                           : 25
motorSpeedMaxPwm                           : 255
motorPowerMax                              : 57.60
motorSenseRightScale                       : 257.00
motorSenseLeftScale                        : 179.00
motorPowerIgnoreTime                       : 2000
motorZeroSettleTime                        : 3000
motorRollTimeMax                           : 1500
motorRollTimeMin                           : 750
motorReverseTime                           : 1200
motorForwTimeMax                           : 49960
motorBiDirSpeedRatio1                      : 0.30
motorBiDirSpeedRatio2                      : 0.92
motorLeftPID.Kp                            : 1.50
motorLeftPID.Ki                            : 0.29
motorLeftPID.Kd                            : 0.25
motorRightSwapDir                          : 1
motorLeftSwapDir                           : 1
---------- mower motor ---------------------------------------
motorMowAccel                              : 2000.00
motorMowSpeedMaxPwm                        : 252
motorMowPowerMax                           : 55.60
motorMowModulate                           : 0
motorMowRPMSet                             : 3220
motorMowSenseScale                         : inf
motorMowPID.Kp                             : 0.00
motorMowPID.Ki                             : 0.01
motorMowPID.Kd                             : 0.01
---------- motorMowModulate Interrupt ------------------------
motorMowModulate Interrupt                 : 0
---------- bumper --------------------------------------------
bumperUse                                  : 0
---------- drop ----------------------------------------------
dropUse                                    : 0
dropContact                                : 1
---------- rain ----------------------------------------------
rainUse                                    : 0
---------- sonar ---------------------------------------------
sonarUse                                   : 1
sonarLeftUse                               : 1
sonarRightUse                              : 1
sonarCenterUse                             : 1
sonarTriggerBelow                          : 1050
---------- perimeter -----------------------------------------
perimeterUse                               : 0
perimeterTriggerTimeout                    : 0
perimeterOutRollTimeMax                    : 2000
perimeterOutRollTimeMin                    : 750
perimeterOutRevTime                        : 2200
perimeterTrackRollTime                     : 1500
perimeterTrackRevTime                      : 2200
perimeterPID.Kp                            : 51.00
perimeterPID.Ki                            : 12.50
perimeterPID.Kd                            : 0.80
trackingPerimeterTransitionTimeOut         : 2000
trackingErrorTimeOut                       : 10000
trackingBlockInnerWheelWhilePerimeterStruggling : 1
---------- lawn sensor ---------------------------------------
lawnSensorUse                              : 0
---------- IMU (compass/accel/gyro) --------------------------
imuUse                                     : 0
imuCorrectDir                              : 0
imuDirPID.Kp                               : 5.00
imuDirPID.Ki                               : 1.00
imuDirPID.Kd                               : 1.00
imuRollPID.Kp                              : 0.80
imuRollPID.Ki                              : 21.00
imuRollPID.Kd                              : 0.00
---------- model R/C -----------------------------------------
remoteUse                                  : 0
---------- model R/C Interrupt --------------------------------
Pin 10 pinRemoteSpeed                      : 0
Pin 11 pinRemoteSteer                      : 0
Pin 12 pinRemoteMow                        : 0
Pin 52 pinRemoteSwitch                     : 1
---------- battery -------------------------------------------
batMonitor                                 : 1
batGoHomeIfBelow                           : 23.70
batSwitchOffIfBelow                        : 21.70
batSwitchOffIfIdle                         : 1
batFactor                                  : 0.54
batChgFactor                               : 0.54
batFull                                    : 29.40
batChargingCurrentMax                      : 1.60
batFullCurrent                             : -99999.00
startChargingIfBelow                       : 99999.00
chargingTimeout                            : 2147483647
chgFactor                                  : 0.05
---------- charging station ----------------------------------
stationRevTime                             : 1800
stationRollTime                            : 1000
stationForwTime                            : 1500
stationCheckTime                           : 1700
---------- odometry ------------------------------------------
odometryUse                                : 1
twoWayOdometrySensorUse                    : 0
odometryTicksPerRevolution                 : 1060
odometryTicksPerCm                         : 13.50
odometryWheelBaseCm                        : 36.00
---------- Odometry Interrupt ---------------------------------
oneway left                                : 1
Oneway right                               : 1
twoway left                                : 0
twoway right                               : 0
---------- GPS -----------------------------------------------
gpsUse                                     : 0
stuckIfGpsSpeedBelow                       : 0.20
gpsSpeedIgnoreTime                         : 5000
---------- other ---------------------------------------------
buttonUse                                  : 1
---------- user-defined switch -------------------------------
userSwitch1                                : 0
userSwitch2                                : 0
userSwitch3                                : 0
---------- timer ---------------------------------------------
timerUse                                   : 1
---------- bluetooth-----------------------------------------
bluetoothuse                               : 1
---------- esp8266 ------------------------------------------
esp8266Use                                 : 0
esp8266ConfigString                        : 123test321
---------- robot stats ---------------------------------------
statsMowTimeMinutesTrip                    : 0
statsMowTimeMinutesTotal                   : 0
statsBatteryChargingCounterTotal           : 0
statsBatteryChargingCapacityTrip in mAh    : 0.00
statsBatteryChargingCapacityTotal in Ah    : 0.00
statsBatteryChargingCapacityAverage in mAh : 0.00
DONE

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

ADC calibration...
ADC calibration ch0=0
ADC calibration ch1=0
ADC calibration ch3=0
ADC calibration ch4=99
ADC calibration ch5=127
ADC calibration ch8=0
---ADC calib---
ADC sampleRate=38462
AD0	min=0	max=0	diff=0	ofs=0
AD1	min=0	max=0	diff=0	ofs=0
AD2	min=9999	max=-9999	diff=-19998	ofs=0
AD3	min=0	max=0	diff=0	ofs=0
AD4	min=97	max=101	diff=4	ofs=99
AD5	min=125	max=129	diff=4	ofs=127
AD6	min=9999	max=-9999	diff=-19998	ofs=0
AD7	min=9999	max=-9999	diff=-19998	ofs=0
AD8	min=0	max=0	diff=0	ofs=0
AD9	min=9999	max=-9999	diff=-19998	ofs=0
AD10	min=9999	max=-9999	diff=-19998	ofs=0
AD11	min=9999	max=-9999	diff=-19998	ofs=0
AD12	min=9999	max=-9999	diff=-19998	ofs=0
AD13	min=9999	max=-9999	diff=-19998	ofs=0
AD14	min=9999	max=-9999	diff=-19998	ofs=0
AD15	min=9999	max=-9999	diff=-19998	ofs=0

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

RTC date received: Thu 08.06.2017
t   188 l4563 v0 OFF  odo 9191 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc129 Ardumower
t   189 l3249 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   190 l4469 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   191 l4566 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   192 l4563 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   193 l4563 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   194 l4563 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   195 l4566 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   196 l4561 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   197 l4566 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   198 l4564 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   199 l4566 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   200 l4568 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   201 l4559 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   202 l4570 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
t   203 l4557 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=.
t   204 l4569 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 87 Ardumower
t   205 l4124 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s
t   206 l4565 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 77 Ardumower
t   207 l3997 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 95 Ardumower
pfod cmd=s1
t   208 l4571 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 64 Ardumower
t   209 l2996 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s1
t   210 l4568 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s1
t   212 l2468 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 67 Ardumower
t   213 l3215 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t   214 l4569 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 52 Ardumower
pfod cmd=s1
t   215 l2380 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s
t   216 l2400 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 91 Ardumower
t   217 l4080 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
t   218 l4566 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=s2
t   219 l4573 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 77 Ardumower
t   220 l3503 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s2
t   221 l4565 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 73 Ardumower
pfod cmd=s2
t   222 l3544 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 75 Ardumower
pfod cmd=s2
t   223 l3607 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 78 Ardumower
pfod cmd=s2
t   224 l3579 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 74 Ardumower
pfod cmd=o02`625
pfod cmd=o02`703
t   225 l3551 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 80 Ardumower
pfod cmd=o02`713
t   226 l3496 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 72 Ardumower
pfod cmd=s2
t   227 l3517 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 80 Ardumower
pfod cmd=s2
t   228 l3583 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t   229 l3630 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 70 Ardumower
t   230 l3449 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s2
t   231 l4560 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 70 Ardumower
pfod cmd=s2
t   232 l3551 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t   233 l3636 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 74 Ardumower
pfod cmd=o10
t     0 l3430 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc  7 Ardumower
t     0 l3430 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 64 Ardumower
pfod cmd=s2
t     1 l3114 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t     2 l3419 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 73 Ardumower
pfod cmd=s2
t     4 l3480 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 87 Ardumower
t     5 l4188 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s2
t     6 l4387 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 73 Ardumower
pfod cmd=s2
pfod cmd=o10
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
t     0 l3395 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 51 Ardumower
t     0 l3395 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l2178 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s2
t     2 l4680 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 75 Ardumower
pfod cmd=s2
t     3 l3604 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 74 Ardumower
pfod cmd=s2
t     4 l3630 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t     5 l3435 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
t     6 l3922 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s2
t     7 l4568 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 71 Ardumower
pfod cmd=s2
RTC date received: Thu 08.06.2017
t     8 l3422 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t     9 l3573 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=o02`540
t    10 l3600 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
pfod cmd=o02`540
t    11 l3832 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 71 Ardumower
pfod cmd=s2
pfod cmd=o02`570
t    12 l3518 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 69 Ardumower
pfod cmd=o02`584
pfod cmd=o02`583
pfod cmd=o02`570
t    13 l3191 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 46 Ardumower
t    14 l1843 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s2
t    15 l4569 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 70 Ardumower
pfod cmd=s2
t    16 l3518 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 81 Ardumower
pfod cmd=s2
t    17 l3579 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 78 Ardumower
pfod cmd=s2
t    18 l3425 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=o10
t     0 l3628 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  7 Ardumower
t     0 l3628 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 67 Ardumower
pfod cmd=s2
t     1 l2989 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t     2 l3470 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 78 Ardumower
pfod cmd=s2
t     4 l3278 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 96 Ardumower
t     5 l4377 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 95 Ardumower
pfod cmd=s2
t     6 l4389 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s2
t     7 l3460 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 78 Ardumower
pfod cmd=s2
t     8 l3427 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 81 Ardumower
pfod cmd=o04
t     9 l3468 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 70 Ardumower
pfod cmd=s2
t    10 l3252 v0 MANU odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 74 Ardumower
pfod cmd=o10
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
t     0 l3470 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 47 Ardumower
t     0 l3470 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 20 Ardumower
pfod cmd=s2
t     1 l2703 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 79 Ardumower
pfod cmd=o04
t     2 l4109 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 76 Ardumower
pfod cmd=s2
pfod cmd=o04
t     3 l3639 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 61 Ardumower
pfod cmd=s2
t     4 l2459 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s
t     5 l3803 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 91 Ardumower
t     6 l4076 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=s4
t     7 l4570 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 88 Ardumower
pfod cmd=s4
t     8 l4076 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=s4
t     9 l4067 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 87 Ardumower
t    10 l4230 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s4
pfod cmd=d05
t    11 l4568 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=s4
t    12 l3835 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    13 l4905 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s4
t    14 l5394 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 88 Ardumower
pfod cmd=s4
t    15 l4867 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 91 Ardumower
pfod cmd=s4
t    16 l4906 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s4
t    17 l4953 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=s4
t    18 l4906 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s4
t    19 l4898 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=s4
t    20 l4906 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    21 l5082 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s4
t    22 l5387 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=s4
pfod cmd=s
t    23 l4905 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 83 Ardumower
t    24 l4212 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=sz
USER SETTINGS ARE SAVED
loadSaveUserSettings addrstop=264
t    26 l5390 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 83 Ardumower
t    27 l4646 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=.
t    28 l5393 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    29 l4995 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=r
t    30 l5389 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 87 Ardumower
t    31 l4726 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    32 l5391 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    33 l5393 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=rm
t    34 l5384 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 87 Ardumower
t    35 l4809 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    36 l5384 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    37 l5389 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    38 l5382 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
RTC date received: Thu 08.06.2017
pfod cmd=r
t    39 l5390 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=rs
t    40 l4752 v0 OFF  odo 9189 7970 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 87 Ardumower
pfod cmd=ra
t     0 l4766 v0 FORW odo 9189 7970 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
t     0 l4766 v0 FORW odo 9189 7970 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 s

nero76 · 9 Juni 2017

-Falls Du nicht PCB1.3 hast, in mower.h die entsprechende Zeile für PCB1.2 aktivieren
-In der Konsole einmal 'v' drücken und umstellen von Zähler auf Werte. Dann die Motoren laufen lassen, es sollte dann die Stromwerte der Motoren zu sehen sein
-ggf. motorSenseRightScale/motorSenseLeftScale anpassen falls Stromwerte utopisch sind
-falls schon verschiedene Versionen ausprobiert wurden oder noch werden, ggf. auch einmal Factory Settings benutzen (console: load factory settings)
-Du benutzt die Developer-Version (github Master-Zweig) welche Fehler enthalten kann da teilweise täglich am Code gearbeitet wird - ggf. einmal eine Release-Version testen (Github->Button Releases)

umu512 · 9 Juni 2017

Danke schonmal
Ich werde das heute Abend ausprobieren und dann hier posten.

umu512 · 10 Juni 2017

Hallo zusammen,

leider kann ich keine Besserung erkennen, aber vielleicht liegt es ja auch irgendwie an mir.
Ich kann leider keine Release Version benutzen, da für mich ja das neue HC06 BL Modul hinzugekommen ist,
gut ich könnte die Änderung selbst mergen, wenn nötig.

Ich habe auf PCB_1_2 umgestellt, was müßte man noch ändern? Meine beiden Probleme bleiben bestehen.
Immer wenn ich in der PfodApp auf Manual gehe wird der Mähmotor(nm) mit angeschalten obwohl nicht gedrückt und bei Manual Vorwärts(nf) gehen die Motoren auf ERROR, abwohl die Tests in der Console positiv sind.

Was muss ich ändern damit ich den Mower auch mit dem Undervoltageboard anschalten kann?

Vielen Dank schonmal
Gruß

Uwe

Code:

ADCMan: found calib data
---ADC calib---
ADC sampleRate=38462
AD0	min=9999	max=-9999	diff=-19998	ofs=0
AD1	min=9999	max=-9999	diff=-19998	ofs=0
AD2	min=9999	max=-9999	diff=-19998	ofs=0
AD3	min=9999	max=-9999	diff=-19998	ofs=0
AD4	min=9999	max=-9999	diff=-19998	ofs=99
AD5	min=9999	max=-9999	diff=-19998	ofs=127
AD6	min=9999	max=-9999	diff=-19998	ofs=0
AD7	min=9999	max=-9999	diff=-19998	ofs=0
AD8	min=9999	max=-9999	diff=-19998	ofs=0
AD9	min=9999	max=-9999	diff=-19998	ofs=0
AD10	min=9999	max=-9999	diff=-19998	ofs=0
AD11	min=9999	max=-9999	diff=-19998	ofs=0
AD12	min=9999	max=-9999	diff=-19998	ofs=0
AD13	min=9999	max=-9999	diff=-19998	ofs=0
AD14	min=9999	max=-9999	diff=-19998	ofs=0
AD15	min=9999	max=-9999	diff=-19998	ofs=0
SETUP
matchSignal size=24
subSample=4
capture size=192
IMU error: no calib data
--------
accOfs=0.00,0.00,0.00
accScale=2.00,2.00,2.00
comOfs=0.00,0.00,0.00
comScale=2.00,2.00,2.00
--------
initL3G4200D
gyro read error
gyro read error
gyro read error
loadSaveErrorCounters: read
loadSaveErrorCounters addrstop=422
loadUserSettings
loadSaveUserSettings addrstop=264
loadSaveRobotStats: read
loadSaveRobotStats addrstop=822
START
Ardumower 1.0a7-Azurit-dev  PCB 1.2  Arduino Mega  IOREF=5.00
Config: Ardumower
press...
  d for menu
  v to change console output (sensor counters, values, perimeter etc.)
sen_counters
RTC date received: Sat 10.06.2017
t     1 l  0 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     2 l  0 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc 98 Ardumower
t     3 l4948 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     4 l4975 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     5 l4962 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.5 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     6 l4970 v0 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son   0 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
sen_values
t     7 l4963 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     8 l4968 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     9 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    10 l4928 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    11 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    12 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    13 l4938 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    14 l4929 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    15 l4936 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.4 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    16 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    17 l4928 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    18 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    19 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    20 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    21 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    22 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    23 l4928 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    24 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    25 l4936 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    26 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    27 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    28 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    29 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    30 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    31 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    32 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    33 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    34 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    35 l4929 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    36 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.3 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    37 l4932 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    38 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    39 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    40 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    41 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    42 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    43 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    44 l4929 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    45 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    46 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    47 l4934 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    48 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    49 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    50 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    51 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    52 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    53 l4929 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    54 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    55 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    56 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    57 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    58 l4930 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    59 l4935 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    60 l4931 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
RTC date received: Sat 10.06.2017
t    61 l4936 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    62 l4918 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    63 l4839 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    64 l4936 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    65 l4927 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  148  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    66 l4933 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    67 l4927 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
triggered batSwitchOffIfIdle
loadSaveErrorCounters: write
loadSaveErrorCounters addrstop=422
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
BATTERY switching OFF
t    68 l4933 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 53 Ardumower
BATTERY switching ON again
pfod cmd=.
t    69 l2540 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
t    70 l4495 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    71 l4927 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    72 l4937 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    73 l4934 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    74 l4928 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    75 l4936 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    76 l4932 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    77 l4934 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 95 Ardumower
pfod cmd=n
t    78 l4671 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=n
t    79 l4676 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    80 l4672 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    81 l4669 v1 OFF  odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=nf
t     0 l4679 v1 MANU odo    0    0 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
t     0 l4679 v1 MANU odo    0    0 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  7 Ardumower
pfod cmd=n
t     1 l4362 v1 MANU odo    0    0 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     2 l4723 v1 MANU odo    0    0 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     0 l4738 v1 ERR  odo   31   27 spd    0    0    0 sen   14   66    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
Error: Motor Right current
t     0 l4738 v1 ERR  odo   40   31 spd    0    0    0 sen   29  129    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  1 Ardumower
pfod cmd=n
t     1 l4092 v1 ERR  odo   40   31 spd    0    0    0 sen   24  107    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 62 Ardumower
ERR_MOTOR_RIGHT
pfod cmd=n
t     2 l3083 v1 ERR  odo   40   31 spd    0    0    0 sen    9   40    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     3 l4786 v1 ERR  odo   40   31 spd    0    0    0 sen    3   16    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=nm
t     4 l4852 v1 ERR  odo   40   31 spd    0    0    0 sen    1    6    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=n
t     5 l4928 v1 ERR  odo   40   31 spd    0    0    0 sen    0    2    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 91 Ardumower
pfod cmd=n
t     6 l4848 v1 ERR  odo   40   31 spd    0    0    0 sen    0    1    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 68 Ardumower
pfod cmd=n
t     7 l3155 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
ERR_MOTOR_RIGHT
t     8 l4875 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     9 l5065 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t    10 l4847 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    11 l4845 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 67 Ardumower
pfod cmd=n
t    12 l3148 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_RIGHT
pfod cmd=n
t    13 l4850 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=n
t    14 l4797 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=n
t    15 l4851 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=n
t    16 l4851 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 67 Ardumower
t    17 l3281 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 98 Ardumower
ERR_MOTOR_RIGHT
pfod cmd=n
t    18 l5111 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=n
t    19 l4797 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    20 l4846 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    21 l4850 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 67 Ardumower
pfod cmd=n
t    22 l3213 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_RIGHT
pfod cmd=!
t    23 l4846 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    24 l5047 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    25 l5114 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    26 l5122 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 67 Ardumower
t    27 l3475 v1 ERR  odo   40   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_RIGHT

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

testing left motor (forward) half speed...
t    31 l5123 v1 ERR  odo   41   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 80 Ardumower
t    32 l5123 v1 ERR  odo  683   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    33 l5123 v1 ERR  odo 1345   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    34 l5123 v1 ERR  odo 2007   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    35 l5123 v1 ERR  odo 2672   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
testing left motor (reverse) full speed...
RTC date received: Sat 10.06.2017
t    37 l5123 v1 ERR  odo 3340   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    38 l5123 v1 ERR  odo 1981   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    39 l5123 v1 ERR  odo  607   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    41 l5123 v1 ERR  odo -776   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    42 l5123 v1 ERR  odo -2163   31 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
testing right motor (forward) half speed...
t    44 l5123 v1 ERR  odo -3513   32 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    45 l5123 v1 ERR  odo -3513  582 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    46 l5123 v1 ERR  odo -3513 1133 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    47 l5123 v1 ERR  odo -3513 1704 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    48 l5123 v1 ERR  odo -3513 2279 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
testing right motor (reverse) full speed...
t    50 l5123 v1 ERR  odo -3513 2845 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147   75 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    51 l5123 v1 ERR  odo -3513 1562 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147   75 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    52 l5123 v1 ERR  odo -3513  246 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147   75 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    53 l5123 v1 ERR  odo -3513 -1081 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
t    54 l5123 v1 ERR  odo -3513 -2405 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

resetErrorCounters
loadSaveErrorCounters: write
loadSaveErrorCounters addrstop=422
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
t     0 l5123 v1 OFF  odo -3513 -3695 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc  0 Ardumower
ALL ERRORS ARE DELETED

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

ADC calibration...
ADC calibration ch0=0
ADC calibration ch1=0
ADC calibration ch3=0
ADC calibration ch4=54
ADC calibration ch5=78
ADC calibration ch8=0
---ADC calib---
ADC sampleRate=38462
AD0	min=0	max=0	diff=0	ofs=0
AD1	min=0	max=0	diff=0	ofs=0
AD2	min=9999	max=-9999	diff=-19998	ofs=0
AD3	min=0	max=0	diff=0	ofs=0
AD4	min=53	max=56	diff=3	ofs=54
AD5	min=77	max=80	diff=3	ofs=78
AD6	min=9999	max=-9999	diff=-19998	ofs=0
AD7	min=9999	max=-9999	diff=-19998	ofs=0
AD8	min=0	max=0	diff=0	ofs=0
AD9	min=9999	max=-9999	diff=-19998	ofs=0
AD10	min=9999	max=-9999	diff=-19998	ofs=0
AD11	min=9999	max=-9999	diff=-19998	ofs=0
AD12	min=9999	max=-9999	diff=-19998	ofs=0
AD13	min=9999	max=-9999	diff=-19998	ofs=0
AD14	min=9999	max=-9999	diff=-19998	ofs=0
AD15	min=9999	max=-9999	diff=-19998	ofs=0

 MAIN MENU:
1=test motors
2=test odometry
3=communications menu
5=calibrate IMU acc next side
6=calibrate IMU com start/stop
7=delete IMU calib
8=ADC calib (perimeter sender, charger must be off)
9=save user settings
c=test RTC
l=load factory settings
r=delete robot stats
x=print settings
e=delete all errors
0=exit

t    20 l5123 v1 OFF  odo -3513 -3695 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 66 Ardumower
t    21 l4394 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    4  309    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 98 Ardumower
t    22 l4906 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    1  122    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    23 l4919 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0   46    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 96 Ardumower
t    24 l4915 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0   17    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    25 l4916 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    6    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    26 l4919 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    2    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    27 l4911 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    28 l4915 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    29 l4911 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=.
t    30 l4918 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 94 Ardumower
RTC date received: Sat 10.06.2017
t    31 l4468 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=r
t    32 l4906 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 87 Ardumower
t    33 l4307 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.2 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    34 l4912 v1 OFF  odo -3495 -3689 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=ra
t     0 l4920 v1 FORW odo -3495 -3689 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 10 Ardumower
t     0 l4920 v1 FORW odo -3495 -3689 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 70 Ardumower
t     1 l2948 v1 FORW odo -3495 -3689 spd   16   16    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     2 l3551 v1 FORW odo -3495 -3689 spd   16   16    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l3548 v1 REV  odo -3439 -3642 spd  -20  -20    0 sen   21  114    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 35 Ardumower
t     0 l3548 v1 REV  odo -3432 -3639 spd  -20  -20    0 sen   14   81    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 62 Ardumower
t     1 l3446 v1 REV  odo -3432 -3639 spd  -20  -20    0 sen    5   30    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=r
t     2 l3825 v1 REV  odo -3432 -3639 spd  -20  -20    0 sen    2   12    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 87 Ardumower
t     0 l3354 v1 ROLL odo -3557 -3754 spd  -20   20    0 sen   21   81    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 63 Ardumower
t     0 l3354 v1 ROLL odo -3544 -3746 spd  -20   20    0 sen   19   78    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 32 Ardumower
t     1 l3615 v1 ROLL odo -3544 -3746 spd  -20   20    0 sen    7   29    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=ra
t     0 l4181 v1 FORW odo -3544 -3746 spd   25   25    0 sen    2   11    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l4181 v1 FORW odo -3544 -3746 spd   25   25    0 sen    2   10    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l3890 v1 FORW odo -3544 -3746 spd   16   16    0 sen    1    4    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 98 Ardumower
t     2 l3548 v1 FORW odo -3544 -3746 spd   16   16    0 sen    0    1    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 96 Ardumower
t     0 l3552 v1 REV  odo -3523 -3728 spd  -20  -20    0 sen   53   93    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     0 l3552 v1 REV  odo -3519 -3726 spd  -20  -20    0 sen   61  114    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc  0 Ardumower
pfod cmd=ra
t     0 l3453 v1 FORW odo -3550 -3732 spd   25   25    0 sen   31   64    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 82 Ardumower
t     0 l3453 v1 FORW odo -3550 -3732 spd   25   25    0 sen   29   61    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l3299 v1 FORW odo -3550 -3732 spd   16   16    0 sen   11   23    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 98 Ardumower
t     2 l3549 v1 FORW odo -3550 -3732 spd   16   16    0 sen    4    8    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     3 l3550 v1 FORW odo -3523 -3710 spd   16   16    0 sen   14   21    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l3543 v1 REV  odo -3432 -3625 spd  -20  -20    0 sen   57  139    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 14 Ardumower
t     0 l3543 v1 REV  odo -3418 -3615 spd  -20  -20    0 sen   29   79    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 83 Ardumower
t     1 l3469 v1 REV  odo -3418 -3615 spd  -20  -20    0 sen   11   30    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=r
t     2 l3823 v1 REV  odo -3418 -3615 spd  -20  -20    0 sen    4   12    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 87 Ardumower
t     0 l3329 v1 ROLL odo -3542 -3731 spd  -20   20    0 sen   30   94    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 44 Ardumower
t     0 l3329 v1 ROLL odo -3530 -3724 spd  -20   20    0 sen   21   70    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 50 Ardumower
t     1 l3708 v1 ROLL odo -3530 -3724 spd  -20   20    0 sen    8   26    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     2 l4118 v1 ROLL odo -3530 -3724 spd  -20   20    0 sen    3   10    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l3964 v1 FORW odo -3566 -3688 spd   25   25    0 sen   19  109    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 63 Ardumower
t     0 l3964 v1 FORW odo -3552 -3690 spd   25   25    0 sen   23  135    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 27 Ardumower
pfod cmd=r
t     1 l3556 v1 FORW odo -3534 -3703 spd   16   16    0 sen   14   64    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 87 Ardumower
pfod cmd=rm
t     2 l3065 v1 FORW odo -3534 -3703 spd   16   16    0 sen    5   24    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     0 l3367 v1 REV  odo -3514 -3685 spd  -20  -20    0 sen   42   75    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 74 Ardumower
t     0 l3367 v1 REV  odo -3511 -3683 spd  -20  -20    0 sen   40   88    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 20 Ardumower
t     1 l3324 v1 REV  odo -3518 -3683 spd  -20  -20    0 sen   15   33    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     2 l3827 v1 REV  odo -3518 -3683 spd  -20  -20    0 sen    5   12    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     3 l3825 v1 REV  odo -3596 -3751 spd  -20  -20    0 sen   12   44    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l3822 v1 ROLL odo -3668 -3816 spd  -20   20    0 sen   18   79    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 13 Ardumower
t     0 l3822 v1 ROLL odo -3660 -3811 spd  -20   20    0 sen    9   41    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 84 Ardumower
pfod cmd=r
t     1 l3878 v1 ROLL odo -3660 -3811 spd  -20   20    0 sen    3   17    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 87 Ardumower
t     2 l3481 v1 ROLL odo -3660 -3811 spd  -20   20    0 sen    1    6    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=ra
t     0 l3967 v1 FORW odo -3660 -3811 spd   25   25    0 sen    1    6    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.0 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     0 l3967 v1 FORW odo -3660 -3811 spd   16   16    0 sen    0    2    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 78 Ardumower
t     1 l2749 v1 FORW odo -3660 -3811 spd   16   16    0 sen    0    1    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=ra
t     2 l3552 v1 FORW odo -3660 -3811 spd   16   16    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
t     0 l3134 v1 REV  odo -3640 -3792 spd  -20  -20    0 sen   49   85    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 20 Ardumower
t     0 l3134 v1 REV  odo -3645 -3791 spd  -20  -20    0 sen   27   57    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 70 Ardumower
t     1 l3451 v1 REV  odo -3645 -3791 spd  -20  -20    0 sen   10   21    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=rc
t     0 l3824 v1 RC   odo -3645 -3791 spd  -20  -20    0 sen    8   18    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 13 Ardumower
t     0 l3824 v1 RC   odo -3645 -3791 spd    0    0    0 sen    4    9    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 67 Ardumower
RC 0,0,0,0
t     1 l2732 v1 RC   odo -3645 -3791 spd    0    0    0 sen    1    3    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
RC 0,0,0,0
t     2 l3359 v1 RC   odo -3645 -3791 spd    0    0    0 sen    0    1    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
RC 0,0,0,0
t     3 l3358 v1 RC   odo -3645 -3791 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
RC 0,0,0,0
pfod cmd=.
t     4 l3357 v1 RC   odo -3645 -3791 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
RC 0,0,0,0
pfod cmd=n
t     5 l3087 v1 RC   odo -3645 -3791 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
RC 0,0,0,0
pfod cmd=nf
t     0 l3183 v1 MANU odo -3645 -3791 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
t     0 l3183 v1 MANU odo -3645 -3791 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 30 Ardumower
pfod cmd=n
t     1 l3381 v1 MANU odo -3645 -3791 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t     2 l4498 v1 MANU odo -3645 -3791 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     0 l4490 v1 ERR  odo -3613 -3760 spd    0    0    0 sen   60   78    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 70 Ardumower
Error: Motor Left current
Error: Motor Right current
pfod cmd=n
t     0 l4490 v1 ERR  odo -3605 -3756 spd    0    0    0 sen   68  146    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  2 Ardumower
t     1 l3604 v1 ERR  odo -3606 -3756 spd    0    0    0 sen   25   70    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 99 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t     2 l5115 v1 ERR  odo -3606 -3756 spd    0    0    0 sen   10   28    0 bum    0    0 dro    0    0 son  147  148  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 92 Ardumower
pfod cmd=n
t     3 l4761 v1 ERR  odo -3606 -3756 spd    0    0    0 sen    4   11    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=nf
t     0 l4838 v1 MANU odo -3606 -3756 spd    0    0    0 sen    3   10    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 10 Ardumower
t     0 l4838 v1 MANU odo -3606 -3756 spd   25   25    0 sen    1    4    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 80 Ardumower
pfod cmd=n
t     1 l4219 v1 MANU odo -3606 -3756 spd   25   25    0 sen    0    1    0 bum    0    0 dro    0    0 son  148  148  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=n
t     2 l4490 v1 MANU odo -3606 -3756 spd   25   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
t     0 l4493 v1 ERR  odo -3573 -3725 spd    0    0    0 sen   60   88    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 20 Ardumower
Error: Motor Left current
Error: Motor Right current
pfod cmd=n
t     0 l4493 v1 ERR  odo -3565 -3721 spd    0    0    0 sen   71  146    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 31 Ardumower
pfod cmd=n
t     1 l2399 v1 ERR  odo -3565 -3721 spd    0    0    0 sen   26   55    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
RTC date received: Sat 10.06.2017
pfod cmd=n
t     2 l4844 v1 ERR  odo -3565 -3721 spd    0    0    0 sen   10   20    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 93 Ardumower
t     3 l4824 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    3    7    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 99 Ardumower
pfod cmd=n
t     4 l5112 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    1    3    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t     5 l4854 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    0    1    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 67 Ardumower
pfod cmd=n
t     6 l3091 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     7 l4847 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 96 Ardumower
pfod cmd=n
t     8 l4838 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     9 l4843 v1 ERR  odo -3565 -3721 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 96 Ardumower
pfod cmd=nr
t     0 l4840 v1 MANU odo -3565 -3721 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 35 Ardumower
t     0 l4840 v1 MANU odo -3565 -3721 spd   25   12    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t     1 l4321 v1 MANU odo -3565 -3721 spd   25   12    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t     2 l4391 v1 MANU odo -3565 -3721 spd   25   12    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 96 Ardumower
t     0 l4498 v1 ERR  odo -3468 -3689 spd    0    0    0 sen   66  122    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 56 Ardumower
Error: Motor Left current
Error: Motor Right current
pfod cmd=n
t     0 l4498 v1 ERR  odo -3455 -3685 spd    0    0    0 sen   71  158    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  2 Ardumower
t     1 l2670 v1 ERR  odo -3455 -3685 spd    0    0    0 sen   29   69    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=n
t     2 l5110 v1 ERR  odo -3455 -3685 spd    0    0    0 sen   10   26    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t     3 l4841 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    4    9    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 93 Ardumower
pfod cmd=n
t     4 l4738 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    1    3    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
pfod cmd=n
t     5 l4849 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    2    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 67 Ardumower
pfod cmd=n
t     6 l3199 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t     7 l4851 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t     8 l4846 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t     9 l4740 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    10 l4840 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 70 Ardumower
pfod cmd=n
t    11 l3416 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t    12 l4844 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t    13 l4843 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 92 Ardumower
pfod cmd=n
t    14 l4729 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=n
t    15 l4846 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 69 Ardumower
pfod cmd=n
t    16 l3197 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=n
t    17 l4852 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=n
t    18 l4846 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 92 Ardumower
pfod cmd=.
t    19 l4730 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
t    20 l4682 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 70 Ardumower
pfod cmd=y4
t    21 l3409 v1 ERR  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 80 Ardumower
pfod cmd=z00
resetErrorCounters
loadSaveErrorCounters: write
loadSaveErrorCounters addrstop=422
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
t     0 l4001 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 40 Ardumower
t     0 l4001 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 17 Ardumower
pfod cmd=y4
t     1 l2794 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 87 Ardumower
t     2 l4567 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=y4
t     3 l4974 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=y4
t     4 l3811 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=y4
t     5 l3834 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 84 Ardumower
pfod cmd=y4
t     6 l3833 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 77 Ardumower
pfod cmd=.
t     7 l3941 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 94 Ardumower
t     8 l4483 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t     9 l4915 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    10 l4921 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    11 l4919 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    12 l4920 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    13 l4918 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    14 l4912 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    15 l4917 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s
t    16 l4912 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 90 Ardumower
pfod cmd=s1
t    17 l4276 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 55 Ardumower
t    18 l2670 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t    19 l4911 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 53 Ardumower
pfod cmd=s1
t    20 l2576 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 77 Ardumower
t    21 l3816 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t    22 l4914 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 52 Ardumower
pfod cmd=s1
t    23 l2545 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
t    24 l2560 v1 OFF  odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s1
pfod cmd=a10
t     0 l4924 v1 MANU odo -3455 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  8 Ardumower
t     0 l4924 v1 MANU odo -3455 -3685 spd   25    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l186 v1 MANU odo -3455 -3685 spd   25    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s1
RTC date received: Sat 10.06.2017
t     2 l4730 v1 MANU odo -3455 -3685 spd   25    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 51 Ardumower
pfod cmd=s1
t     3 l2437 v1 MANU odo -3455 -3685 spd   25    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
t     0 l2484 v1 ERR  odo -3381 -3685 spd    0    0    0 sen   90    3    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 24 Ardumower
Error: Motor Left current
t     0 l2484 v1 ERR  odo -3371 -3685 spd    0    0    0 sen   75    2    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 38 Ardumower
pfod cmd=s1
t     1 l2807 v1 ERR  odo -3371 -3685 spd    0    0    0 sen   45    1    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s1
t     2 l2627 v1 ERR  odo -3371 -3685 spd    0    0    0 sen   23    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 60 Ardumower
ERR_MOTOR_LEFT
t     3 l3089 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    8    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
pfod cmd=s1
t     4 l5061 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    5    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s1
t     5 l2636 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    3    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 27 Ardumower
t     6 l1044 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    1    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t     7 l5114 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 52 Ardumower
ERR_MOTOR_LEFT
pfod cmd=s1
t     8 l2642 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
t     9 l2602 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t    10 l5116 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 23 Ardumower
pfod cmd=s1
t    11 l891 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
t    12 l2634 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
ERR_MOTOR_LEFT
pfod cmd=s1
pfod cmd=a16
t    13 l5119 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  9 Ardumower
pfod cmd=a16
t    15 l140 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 87 Ardumower
t    16 l4457 v1 ERR  odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 74 Ardumower
pfod cmd=s1
pfod cmd=a10
t     0 l3408 v1 MANU odo -3371 -3685 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 42 Ardumower
t     0 l3408 v1 MANU odo -3371 -3685 spd    0   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l2214 v1 MANU odo -3371 -3685 spd    0   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
ERR_MOTOR_LEFT
pfod cmd=s1
t     2 l4734 v1 MANU odo -3371 -3685 spd    0   25    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s1
t     3 l2403 v1 MANU odo -3371 -3489 spd    0   25    0 sen    0  148    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
t     0 l2784 v1 ERR  odo -3371 -3458 spd    0    0    0 sen    0  148    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  0 Ardumower
Error: Motor Right current
t     0 l2784 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0  252    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 55 Ardumower
pfod cmd=s1
t     1 l2744 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0  151    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 50 Ardumower
pfod cmd=s1
t     2 l2620 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0   81    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
t     3 l2916 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0   30    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t     4 l4999 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0   18    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 52 Ardumower
pfod cmd=s1
t     6 l2630 v1 ERR  odo -3371 -3457 spd    0    0    0 sen    0   12    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 30 Ardumower
pfod cmd=a10
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
t     0 l1220 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    6    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 64 Ardumower
t     0 l1220 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    6    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc  0 Ardumower
t     1 l3173 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    2    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
pfod cmd=s1
t     2 l5044 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    1    0 bum    0    0 dro    0    0 son  148  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 51 Ardumower
pfod cmd=s1
t     3 l2480 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
t     4 l2780 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t     5 l4920 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  148  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 52 Ardumower
pfod cmd=s1
t     6 l2549 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 57 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
t     7 l2657 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 98 Ardumower
pfod cmd=s1
t     8 l4816 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 52 Ardumower
t     9 l2543 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  148  147  147 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
t    10 l4913 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  148 yaw   0 pit   0 rol   0 bat 30.1 chg  0.0  0.0 imu  0 adc 97 Ardumower
triggered batSwitchOffIfBelow
loadSaveErrorCounters: write
loadSaveErrorCounters addrstop=422
loadSaveRobotStats: write
loadSaveRobotStats addrstop=822
BATTERY switching OFF
t    13 l4916 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son  147  147  147 yaw   0 pit   0 rol   0 bat  0.0 chg  0.0  0.0 imu  0 adc 50 Ardumower
ERR_MOTOR_LEFT
ERR_MOTOR_RIGHT
ERR_BATTERY
t    14 l2369 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0    0 1149 yaw   0 pit   0 rol   0 bat  0.0 chg  0.0  0.0 imu  0 adc 81 Ardumower
t    15 l3997 v1 OFF  odo -3371 -3457 spd    0    0    0 sen    0    0    0 bum    0    0 dro    0    0 son    0 1149    0 yaw   0 pit   0 rol   0 bat  0.0 chg  0.0  0.0 imu  0 adc 90 Ardumower

slatkow11 · 14 Juni 2017

Leider werden immer mehr Einstellungen an verschiedenen stellen im Code untergebracht, was Programmiertechnisch zwar einfacher ist aber den Einstieg für neulinge erschwert. Wünschnenswert wäre eine Zentrale Configurationsdatei, in der alle Variablen, die verändert werden können, abgelegt sind.

@ Alex könnte man das nicht als Richtlinie für den Code festlegen. Das dies an einer zentralen stelle "vorgeschrieben" ist ?

@Uwe

Wenn die Motoren schon nicht wollen, muss da was anderes sein.

In der pfod app gibt es einen Error log. was steht da drin ?

In der Software sind unter code/tests auch verschiedene Testprogramme hinterlegt, wie z.B. mc33926 die genau dafür da sind solche fehler aufzuspühren.

Hast du Änderungen an der Konfiguration vorgenommen ?

t 0 l4738 v1 ERR odo 31 27 spd 0 0 0 sen 14 66 0 bum 0 0 dro 0 0 son 148 147 147 yaw 0 pit 0 rol 0 bat 30.2 chg 0.0 0.0 imu 0 adc 80 Ardumower
Error: Motor Right current

Hier siehst du übrigens warum der Mower auf Error geht .
sen 14 66
sen steht für : sen - motor current overflow counter: left, right, mower
Deine Motoren ziehen zu viel Strom. Das kann verschiedene Ursachen haben.

1 Falsch verdrahtet
2 Protektorboard nicht i.o.
3 Entstörung fehlerhaft.
4 Motoren defekt
5 alles mögliche was es sonst noch gibt.

Wie betreibst du deinen Mower 12 oder 24V ?
Laufen die Motoren an ?
Welche Motoren sind verbaut ?

Suche

Suche

Console + pfodApp irgendwie anders als gedacht

umu512

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