leaving the charging station "perimeter error"

[mbatorowicz]

Hello, after charging the battery I click on "auto mode" and the mower goes back a moment and "perimeter error" appears. What can be improved to make the departure from the charging station correct?

 

[Fürst Ruprecht]

The times you can set in the Station menu must be enough for the mower to leave the station and return to the inner area of the perimeter loop.
I haven't checked the code yet, but while the mower is in a SATE of station, the perimeter is not checked.
Gruß Fürst Ruprecht

 

[mbatorowicz]

I have the settings as in the pictures. Nevertheless, the mower reverses 10 cm and stops and errors appear as in the pictures. I don't know what can be wrongly set anymore. The descriptions in the application are completely unclear to me. It is not known which setting is responsible for what. There should be some description for the settings.

 

[Fürst Ruprecht]

what strikes me first:
-why is the battery voltage so low? Are you using a different battery?
-the error counter perimeter has run up to 255, which immediately causes the error when driving out of the garage.
You must reset the error counter and try again. But why does the error counter run up? I have to look at that in the code later.
Gruß Fürst Ruprecht

 

[Fürst Ruprecht]

and check the timing: the longest way is to reverse out of the garage. what do you do then? turn backwards counterclockwise to avoid driving out of the perimeter wire?

 

[Fürst Ruprecht]

so checked the conditions for "ERR_PERIMETER_TIMEOUT"
in robot.cpp: in my case with two perimeter-receiver:
if (perimeter.signalTimedOut(0) && perimeter.signalTimedOut(1)) { //FR 29.05.2021
if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION)
&& (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK)
&& (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL)
&& (stateCurr != STATE_STATION_FORW) && (stateCurr != STATE_REMOTE) && (stateCurr != STATE_PERI_OUT_FORW)
&& (stateCurr != STATE_PERI_OUT_REV) && (stateCurr != STATE_PERI_OUT_ROLL) && (stateCurr != STATE_PERI_TRACK)) {
Console.println("Error: perimeter too far away");
addErrorCounter(ERR_PERIMETER_TIMEOUT);
setNextState(STATE_ERROR,0);
}
}

can you check the states beginning with charging and then leaving the Garage.

Gruß Fürst Ruprecht

 

[mbatorowicz]

This is my 4x4 18650 battery, this is its maximum voltage value. The times are set as shown on the printscreen. After charging, the mower switches to STATE. When Auto Mode is selected, the mower will reverse for 0.5 seconds and stop with errors. I am more interested in this CHARGER error, it can cause the PERIMETER TIMEOUT error.

 

[mbatorowicz]

I corrected the time in the STATION menu. Now only CHARGER ERROR appears after leaving the charging station.

 

[Fürst Ruprecht]

so leaving the charging station works !?

 

[mbatorowicz]

leaves the station. I increased the station reverse check time to 5 seconds and it leaves the station but stops. It does not turn. The error "charger" is displayed.

 

[RonPeeters]

I have the settings as in the pictures. Nevertheless, the mower reverses 10 cm and stops and errors appear as in the pictures. I don't know what can be wrongly set anymore. The descriptions in the application are completely unclear to me. It is not known which setting is responsible for what. There should be some description for the settings.

Compliments on the charging station! Looks great

 

[mbatorowicz]

I have a problem with mowing in lanes. I have shown the way the mower moves in the picture.

What should be adjusted so that the lanes are parallel.

What is the setting in the battery for: charge sense zero?

 

[mbatorowicz]

This is how my mower moves with the settings shown in the picture.



Is it possible for the mower in RAND mode to mow like in Azurit - straight lines?

 

[bernard]

Are you sure imu is activate and working ???
In Random mode the lane need to be perfect on 30 meters without trouble.
Please share your main setting page.
Into console click on list var and Save to file.
Inside PI Into log folder you can share the last console file.


You need to adjust the bylane setting in real time mowing (do not change the 30 90 and 135 value and adjust the 6 other value)
I have a video somewhere but i need to find it and add the contain in the wiki

 

[mbatorowicz]

 

[mbatorowicz]

This is how my mower moves in RAND mode.

 

[flyfast]

This is how my mower moves with the settings shown in the picture.
Anhang anzeigen 2643
Anhang anzeigen 2644

Is it possible for the mower in RAND mode to mow like in Azurit - straight lines?

yes, in random mode the lines are straight.
It seems that something is wrong with your imu.
let me ask a stupid question…..your drive motor and odometrie working at the same channel? left motor - left odo?
I had this at the beginning with my new one and I spend some time into this issue to figure out what was wrong.

Uwe

 

[mbatorowicz]

 

[bernard]

Inside the chassis the imu is locate (when mower go forward) before the drive wheel axe or after the drive wheel axe.

Into console click on list var and Save to file.

Click on List Var before saving console ---> normaly all the setting var are listed with small pause each 10 or 15 value
If nothing come in the console:

You need to check that USB cable in correctly connected to DUE Native USB and not into programming USB.
Check mower.h line 134 you need to comment line like that to have data in PI.

//#define Console Serial
//#define CONSOLE_BAUDRATE    115200       // baudrate used for PC

#define Console SerialUSB
#define CONSOLE_BAUDRATE    115200       // baudrate used for Raspberry PI console

For the strange driving :
Maybe the difference is here (I never test the soft on front traction motor position).
IMU need to be located before the traction motor axe when go forward.

 

[mbatorowicz]

I had an error in mower.h what you wrote.
I have the imu module about 7 cm in front of the wheel axis and about 10 cm to the right of the vehicle axis.