Overcompensation and oscillation on compass test

[jonathanbyrn]

Hi,
I have gone through the IMU setup several times and it looks correct when I check the graphs. but when I do the robot dance it keeps bouncing back and forth. How do I fix this?

also I installed and connected ardumag but no points are recorded. Is this for an older version?

 

[nero76]

Hello,
Yes, ArduMag is for an older version - Compass is not used yet (or more precise: just experimentally for lane-by-lane mowing pattern), however it will be used in Ardumower Sunray firmware (http://wiki.ardumower.de/index.php?title=Ardumower_Sunray). The compass PID parameters (imuRollPID, imuDirPID) control the PID controller for the robot dance and lane-by-lane mowing pattern (http://wiki.ardumower.de/index.php?title=PID_control) and they have been tuned for the Ardumower chassis and motors (https://www.marotronics.de/Ardumower-Kits_2).
Regards,
Alexander

 

[jonathanbyrn]

Thank you for the detailed reply and the clarification about the firmware. I dialed down the directional PID and it is working better but is still failing on one direction. I was following the instructions on the wiki which seem to indicate the IMU is necessary, I will add more info to the wiki about the firmware requirement. Thanks again for your help!