Need help with peritrack

[rulle]

Hello
I Hope some one can help me troubleshoot peritrack.
It manages to reach the charging station 1 time out of 20. I usually find it stuck in the bushes.
The problem is, while peritrack, it changes status. from 8 (ptrk) to 9 (prol) and get stuck in a bush.
Sometimes it switches to 2 (forw) and then over to 7 (pfnd) and 8 (ptrk) and here we go again until the battery becomes weak.
What can cause it to leave the peritrack and change status?

//Rulle

 

[thorsten-ac]

hallo, gute frage nach dem ich den due tauschen musste habe ich nun auch das problem! bist du schon weiter gekommen?

hello, good question after which I had to swap the due I now have the problem! have you come further?

 

[roland]

@Thorsten-ac: Was meinst du mit due tauschen? Hattest du vorher keinen DUE drinn?

 

[rulle]

I have uploaded a small clip that shows how the mower loses track.
I have some log-files to, but I am not sure what is the best way to view the log in this message?
//Rulle
Attachment: https://forum.ardumower.de/data/media/kunena/attachments/3967/error.mp4/

 

[thorsten-ac]

Hi, ja der Verdacht war da, das ich einen defekten due habe. Darum habe ich ihn getauscht ... das eine Problem war weg dafür war ein anderes da...

yes, exactly the same problem I have .....

Vg

 

[rulle]

Here is a log where it jumps from PTRK to FORW

10:29:45, IN, time,perinside,permag,leftspeed,rightspeed,state 
10:29:45, IN, 5727.05, 0, 93, 11.89, 18.68, , PTRK, 
10:29:46, IN, 5727.25, 1, -120, 14.01, 15.13, , PTRK, 
10:29:46, IN, 5727.46, 0, 89, 15.81, 14.79, , PTRK, 
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10:32:17, IN, 5878.53, 1, -193, 10.91, 19.21, , PTRK, 
10:32:17, IN, 5878.74, 1, -145, 10.81, 16.98, , PTRK, 
10:32:17, IN, 5878.95, 1, -74, 12.86, 13.89, , PTRK, 
10:32:17, IN, 5879.16, 1, 108, 16.98, 12.86, , PTRK, 
10:32:18, IN, 5879.36, 1, 136, 11.68, 15.27, , PTRK, 
10:32:18, IN, 5879.56, 0, 158, 19.81, 8.49, , PTRK, 
10:32:18, IN, 5879.77, 0, 159, 15.85, 12.45, , PTRK, 
10:32:18, IN, 5879.98, 0, 122, 14.15, 10.19, , PTRK, 
10:32:18, IN, 5880.19, 0, 146, 17.55, 11.32, , PTRK, 
10:32:19, IN, 5880.39, 0, 149, 19.92, 9.43, , PTRK, 
10:32:19, IN, 5880.60, 0, 288, 15.81, 9.18, , PTRK, 
10:32:19, IN, 5880.81, 0, 284, 20.58, 4.63, , PTRK, 
10:32:19, IN, 5881.02, 0, 285, 22.13, 3.09, , PTRK, 
10:32:19, IN, 5881.23, 0, 41, 22.44, 5.61, , PTRK, 
10:32:20, IN, 5881.43, 0, -112, 14.72, 13.58, , PTRK, 
10:32:20, IN, 5881.64, 0, -99, 13.77, 13.26, , PTRK, 
10:32:20, IN, 5881.85, 0, -94, 19.04, 9.26, , PTRK, 
10:32:20, IN, 5882.06, 0, 127, 20.40, 7.14, , PTRK, 
10:32:20, IN, 5882.31, 0, 86, 13.38, 16.47, , PTRK, 
10:32:21, IN, 5882.51, 1, 124, 12.45, 11.89, , PTRK, 
10:32:21, IN, 5882.71, 1, -124, 9.57, 5.98, , FORW, 
10:32:21, IN, 5882.94, 0, 54, 0.00, 0.00, , POUTREV, 
10:32:21, IN, 5883.14, 0, 20, 0.00, 0.00, , POUTROLL, 
10:32:21, IN, 5883.34, 1, -26, 0.00, 0.00, , POUTROLL, 
10:32:22, IN, 5883.54, 1, -24, 0.57, -0.57, , POUTROLL, 
10:32:22, IN, 5883.74, 1, -118, 9.72, -12.01, , POUTROLL, 
10:32:22, IN, 5883.94, 1, -787, 13.45, -14.57, , POUTROLL, 
10:32:22, IN, 5884.14, 1, -1077, 14.87, -14.87, , POUTROLL, 
10:32:23, IN, 5884.34, 1, -1110, 15.28, -17.55, , POUTROLL, 
10:32:23, IN, 5884.54, 1, -1209, 19.05, -20.18, , POUTROLL, 
10:32:23, IN, 5884.74, 1, -1178, 20.85, -21.35, , FORW, 
10:32:23, IN, 5884.95, 1, -1135, 15.03, 3.51, , FORW, 
10:32:23, IN, 5885.15, 1, -1114, 6.79, 0.00, , FORW, 
10:32:24, IN, 5886.00, 1, -1205, 16.33, 13.67, , PFND, 
10:32:24, IN, 5886.20, 1, -838, 11.89, 4.53, , PFND,

And here is a log where it jumps from PTRK ( 8 ) to POUTROLL ( 9 )

10:48:03, IN, time,perinside,permag,odoleft,odoright,batvolt,state 
10:48:04, IN, 3116.18, 1, -415, 15140, 15140, 25.32, 7, 
10:48:04, IN, 3116.38, 1, -413, 15199, 15199, 25.32, 7, 
10:48:04, IN, 3116.58, 1, -306, 15254, 15254, 25.32, 7, 
10:48:04, IN, 3116.78, 1, -366, 15312, 15312, 25.31, 7, 
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10:48:11, IN, 3123.38, 0, 65, 17175, 17175, 25.29, 7, 
10:48:11, IN, 3123.58, 0, -820, 17228, 17228, 25.29, 7, 
10:48:11, IN, 3123.79, 1, -1223, 17258, 17258, 25.28, 8, 
10:48:12, IN, 3124.00, 1, -1178, 17258, 17258, 25.27, 8, 
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10:52:40, IN, 3392.02, 1, -414, 29510, 29510, 24.95, 8, 
10:52:40, IN, 3392.23, 1, -442, 29540, 29540, 24.95, 8, 
10:52:40, IN, 3392.44, 1, -419, 29565, 29565, 24.95, 8, 
10:52:40, IN, 3392.65, 1, -463, 29588, 29588, 24.95, 8, 
10:52:40, IN, 3392.85, 1, -529, 29604, 29604, 24.95, 8, 
10:52:41, IN, 3393.06, 1, -493, 29628, 29628, 24.95, 8, 
10:52:41, IN, 3393.27, 1, -444, 29639, 29639, 24.95, 8, 
10:52:45, IN, 3397.54, 1, -324, 29639, 29639, 24.96, 9, 
10:52:45, IN, 3397.75, 1, -324, 29639, 29639, 24.96, 9, 
10:52:46, IN, 3397.96, 1, 689, 29639, 29639, 24.98, 9, 
10:52:46, IN, 3398.17, 1, 714, 29647, 29647, 24.99, 9, 
10:52:46, IN, 3398.37, 1, 714, 29670, 29670, 24.99, 9, 
10:52:46, IN, 3398.70, 0, 648, 29722, 29722, 25.01, 9, 
10:52:47, IN, 3398.91, 0, 636, 29755, 29755, 25.01, 9, 
10:52:47, IN, 3399.13, 0, 643, 29799, 29799, 25.01, 9, 
10:52:47, IN, 3399.35, 0, 582, 29848, 29849, 25.01, 9, 
10:52:47, IN, 3399.58, 0, 582, 29900, 29900, 25.02, 7, 
10:52:47, IN, 3399.78, 0, 616, 29927, 29928, 25.02, 7,

Does anyone have any idea what variables I should log to find what is the problem.

//Rulle

 

[bernard]

What code did you use ?
Search "setNextState(STATE_FORWARD" everywhere in the code and put a Console .Println("Hello1,2,3 .....") before each.
So you can see why the state change like this.
Maybe Increase the motor power max

 

[rulle]

The code is 1.0a8-Azurit-dev
The logging came from ArduRemote log sensor which I have changed.
In order to use serial monitor, do I need to connect the mower with a usb cable to my laptop and carry it around in the garden?
Is it possible to use bluetooth and any app to use serial monitor?
I have a SD card module. Can I use it with console.println?
Which is the best way?

I have also found that the problem with PROL occurs when it is a long way to the station, maybe 5 to 15 minutes !!!
If it's a short way (time) home, just a few minutes, it's no problem.
//Rulle

 

[bernard]

do I need to connect the mower with a usb cable to my laptop and carry it around in the garden?

It's the easy way. But the error need to occur often to avoid spend many hour inyour garden.

If you have DUE and odometry installed you can test with this code (IMU and Raspberry are deactivate)
Set your own motor and odo setting in arduremote before test
Attachment: https://forum.ardumower.de/data/media/kunena/attachments/3545/AzuritBer3008.zip/

 

[thorsten-ac]

Hi ,

Ich benutze 1.0a9 azurit,
habe jetzt nochmal die Motor Max pwr hoch gestellt, scheint was gebracht zu haben! Jetzt knallt er nur über all gegen

Lustig ist das ich an der Software nichts mehr geändert habe ( außer eine aktuelle arduino ide) und trotzdem ein komplett anderes verhalten ...

Vg
Thorsten

 

[rulle]

Since the mower always loose the track in the same corner (see previous clip) if it has run PTRK more than 7 min and always works if PTRK is less than 6 min, the error must be due to some variable counting error after 7 min. The question is just which one?????
My lawn is quite large and complicated and takes up to 15 min to get to the charging station.
How many minutes PTRK do you have to get to the charging station?
If you have a short way home you may not have these problems.
//Rulle

 

[bernard]

Increase the motor power max

Have you test this ?

 

[rulle]

I have increased max from 28 to 35 but it still loses track.

 

[bernard]

Into Setting motor
What is " Forw time max"
Try to increase it

 

[rulle]

It is set to 80000,00
Can't increase it, allready set to max.
If I during PTRK, after 5 min send command OFF and then Track, it works perfect.

 

[rulle]

I will try to write a code that stops and starts PTRK every 3 min. I hope it will work.
//Rulle

 

[bernard]

80000 is 22 minutes
Is it possible that you have 22 min in Peritrack ?

 

[bernard]

You can change max value in Pfod.cpp
Here:

sendSlider("a09", F("Forw time max"), robot->motorForwTimeMax, "", 10, 80000);

But maybe it's not use in Peritrack.

 

[rulle]

80000 is 22 minutes
Is it possible that you have 22 min in Peritrack ?

No, peritrack is upp to 15 min.
I guess that setting is max forward time

 

[rulle]

I will try to write a code that stops and starts PTRK every 3 min. I hope it will work.

The code seems to be working, will do more tests this weekend.
//rulle