Hallo Kermi,
danke das Du Dich der Sache auch angenommen hast. Ja der Motortest läuft sauber durch, die Räder machen genau 10 Umdrehungen
t=0 ticks Left=0 Right=0 current Left=0.02 Right=0.02
t=1 ticks Left=248 Right=251 current Left=0.04 Right=0.03
t=2 ticks Left=504 Right=509 current Left=0.03 Right=0.04
t=3 ticks Left=760 Right=767 current Left=0.04 Right=0.03
t=4 ticks Left=1015 Right=1026 current Left=0.03 Right=0.04
t=5 ticks Left=1271 Right=1284 current Left=0.05 Right=0.05
t=6 ticks Left=1527 Right=1542 current Left=0.04 Right=0.04
t=7 ticks Left=1783 Right=1800 current Left=0.02 Right=0.04
t=8 ticks Left=2040 Right=2058 current Left=0.03 Right=0.03
t=9 ticks Left=2296 Right=2316 current Left=0.03 Right=0.00
t=10 ticks Left=2552 Right=2574 current Left=0.03 Right=0.04
t=11 ticks Left=2570 Right=2592 current Left=0.02 Right=0.01
t=12 ticks Left=2570 Right=2592 current Left=0.02 Right=0.0
Mein Ziel war, die Einstellungen nach dem Zusammenbau des Bordes durchzuführen und dann das
RTK als letztes einzubauen. Da ich gelesen habe, dass erst die Odometrie funktionieren muss und auch die Steuerung über das Handy.
Dabei trat dann das beschrieben Problem auf.
Anbei die serielle Ausgabe mit Steuerung der Motoren
Mit 115200 Baud
BLE:AT+S,0x13
0:4:54 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.57 y=-0.05 delta=-0.07 tow=189480000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=294.63
BLE:AT+S,0x13
0:4:59 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.57 y=-0.05 delta=-0.07 tow=189485000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=299.63
BLE:AT+S,0x13
0:5:4 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.57 y=-0.05 delta=-0.07 tow=189490000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=304.63
BLE:AT+S,0x13
CPU: PTAT=824 CTAT=884 deg=27.02 voltages: I/O=3.35 Core=1.24 VBAT=1.82
0:5:9 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.57 y=-0.05 delta=-0.07 tow=189495000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=309.63
BLE:AT+M,-0.01,0.16,0x16
0:5:14 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.57 y=-0.05 delta=-0.07 tow=189500000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=314.63
BLE:AT+M,0.33,-0.01,0x15
0:5:19 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.70 y=-0.06 delta=-0.07 tow=189505000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=319.64
BLE:AT+M,-0.32,0.12,0x16
0:5:24 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.74 y=-0.07 delta=-0.07 tow=189510000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=324.64
BLE:AT+M,-0.13,0.19,0x1c
0:5:29 ctlDur=0.02 op=0 freem=246551 sp=20001274 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.52 y=-0.05 delta=-0.07 tow=189515000 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=329.64
BLE:AT+M,-0.29,-0.25,0x4d
0:5:34 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.32 y=-0.04 delta=-0.07 tow=189520200 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=334.64
BLE:AT+M,-0.04,-0.29,0x4a
0:5:39 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.17 y=-0.03 delta=-0.07 tow=189525200 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=339.65
BLE:AT+S,0x13
0:5:44 ctlDur=0.02 op=0 freem=246551 sp=20001274 volt=25.24 chg=0.00 tg=0.00,0.00 x=0.16 y=-0.02 delta=-0.07 tow=189530200 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=344.65
Mit 9600 Baud
BLE:AT+S,0x13
0:8:49 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.16 y=-0.02 delta=-0.06 tow=189715600 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=529.73
BLE:AT+S,0x13
0:8:54 ctlDur=0.02 op=0 freem=246551 sp=20001274 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.16 y=-0.02 delta=-0.06 tow=189720600 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=534.73
BLE:AT+S,0x13
0:8:59 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.16 y=-0.02 delta=-0.06 tow=189725800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=539.73
BLE:AT+S,0x13
0:9:4 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.16 y=-0.02 delta=-0.06 tow=189730800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=544.73
BLE:AT+M,0.23,-0.03,0x16
CPU: PTAT=828 CTAT=880 deg=28.70 voltages: I/O=3.35 Core=1.24 VBAT=1.82
0:9:9 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.33 y=-0.03 delta=-0.06 tow=189735800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=549.74
BLE:AT+M,-0.33,0.10,0x15
0:9:14 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.14 y=-0.02 delta=-0.06 tow=189740800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=554.74
BLE:AT+S,0x13
0:9:19 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.25 chg=0.00 tg=0.00,0.00 x=0.08 y=-0.02 delta=-0.06 tow=189745800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=559.74
BLE:AT+M,-0.18,0.43,0x1e
0:9:24 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=-0.06 y=-0.01 delta=-0.06 tow=189750800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=564.74
BLE:AT+M,-0.33,0.01,0x15
0:9:29 ctlDur=0.02 op=0 freem=246551 sp=200010C4 volt=25.24 chg=0.00 tg=0.00,0.00 x=-0.35 y=0.00 delta=-0.06 tow=189755800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=569.74
BLE:AT+S,0x13
0:9:34 ctlDur=0.02 op=0 freem=246551 sp=20001274 volt=25.24 chg=0.00 tg=0.00,0.00 x=-0.39 y=0.01 delta=-0.05 tow=189760800 lon=12.98831663 lat=50.78552083 h=8831.2 n=0.00 e=0.00 d=0.00 sol=0 age=574.75
BLE:AT+S,0x13