HardwareSetup started
I2c reset started
I2c reset OK
adcman setup pin: AD2
adcman setup pin: AD9
adcman setup pin: AD8
adcman setup pin: AD7
adcman setup pin: AD7
adcman setup pin: AD1
adcman setup pin: AD0
adcman setup pin: AD3
adcman setup pin: AD5
adcman setup pin: AD4
I2C scanning...
I2C device found at address 30 0x1e probably HMC5883L
I2C device found at address 80 0x50 probably AT24C32
I2C device found at address 83 0x53 probably ADXL345B
I2C device found at address 104 0x68 probably DS1307
I2C device found at address 105 0x69 probably MPU6050/9150 or L3G4200D
I2C device found at address 119 0x77 probably BMP180
I2C scan done
Set L encoder not reverse
Set R encoder not reverse
Reset motor left fault
Reset motor right fault
Reset motor mow fault
HardwareSetup finished
perimeterSensoren Setup Startet
REFERENCE_SIGNAL:1,1,-1,-1,-1,1,-1,-1,1,-1,1,-1,-1,1,1,-1,1,1,-1,-1,1,1,-1,1,1,-1,1,-1,1,-1,-1,1,-1,-1,1,-1,1,1,-1,1,-1,1,-1,1,-1,1,1,-1,-1,1,1,-1,-1,1,1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,1,-1,1,1,-1,1,-1,-1,1,-1,-1,1,1,-1,1,-1,-1,1,1,-1,1,-1,1,-1,1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,1,-1,-1,1,-1,-1,1,1,-1,1,1,-1,-1,1,
GENERATE_DIFF_SIGNAL:0,0,-1,0,0,1,-1,0,1,-1,1,-1,0,1,0,-1,1,0,-1,0,1,0,-1,1,0,-1,1,-1,1,-1,0,1,-1,0,1,-1,1,0,-1,1,-1,1,-1,1,-1,1,0,-1,0,1,0,-1,0,1,0,-1,1,-1,1,0,-1,0,1,-1,0,1,0,-1,1,0,-1,0,1,-1,0,1,-1,1,-1,1,0,-1,1,-1,0,1,-1,0,1,0,-1,1,-1,0,1,0,-1,1,-1,1,-1,1,-1,1,-1,1,0,-1,0,1,-1,0,1,-1,1,-1,0,1,-1,0,1,0,-1,1,0,-1,0,1,
referenceSignalFFT_r Oversample 512:
0 0 0 0 0 0 0 0 -10 -10 -10 -10 0 0 0 0 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 -10 -10 -10 -10 0 0 0 0 10 10 10 10 0 0 0 0 -10 -10 -10 -10 10 10 10 10 0 0 0 0 -10 -10 -10 -10 0 0 0 0 10 10 10 10
referenceSignalFFT_i Oversample 512:
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
referenceSignalFFT_r after FFT 512:
-28 -52 -24 16 -15 -65 -54 -14 -4 -70 39 -28 50 -69 -27 61 96 26 123 108 9 11 51 87 64 -32 274 69 78 274 -37 301 124 247 178 -61 -43 136 -69 576 -744 60 -306 -459 -642 414 157 -191 513 224 217 -441 -336 320 -206 -224 53 -196 100 262 -384 -254 304 276 -98 -299 -62 3 291 -415 -270 172 25 266 92 -29 127 220 86 -225 -304 90 -23 -78 243 -23 65 -53 255 -185 53 -164 -106 -92 59 -62 63 -72 -20 -22 -75 -22 -49 -6 -42 -38 -3 -4 -8 -18 -14 -26 -18 -9 4 0 0 -5 -6 0 -1 -3 -2 -1 -2 -2 -2 -2 0 0 0 0 0 -2 -3 -2 0 -3 1 -5 9 -8 2 7 3 -13 13 10 -1 2 10 -4 -13 -9 42 8 -27 70 -25 49 85 47 103 -79 -78 -48 10 116 -142 -3 -84 -202 -138 145 63 -35 80 -9 154 -100 -98 150 -55 15 42 -22 -65 -39 -81 -139 153 36 -97 -62 87 -95 34 -155 -129 40 39 97 -6 91 -21 9 133 -81 -52 10 34 66 2 -137 -28 -21 7 4 29 -92 -88 -82 87 4 78 2 -21 34 -46 -3 6 -6 -23 -17 6 2 -4 -1 3 -18 -5 2 5 -3 7 -4 -2 0 1 0 -1 0 0 1 0 0 0 0 0 0 -1 -1 -2 -2 0 0 -1 -4 6 -3 5 1 -6 -18 1 -2 -3 1 5 -19 -24 -6 4 -3 -46 32 -23 1 78 5 86 -83 -87 -92 27 2 8 -20 -26 -135 2 68 35 11 -53 -80 135 9 -20 92 -4 98 39 42 -126 -154 36 -94 90 -62 -96 37 152 -139 -81 -39 -64 -22 43 16 -54 149 -97 -100 156 -7 80 -34 65 144 -137 -203 -85 -3 -143 117 11 -48 -78 -78 105 46 85 52 -22 70 -27 8 43 -8 -10 -2 13 4 0 12 14 -10 4 9 2 -6 12 -5 2 -2 1 -1 -2 -1 0 2 0 0 0 0 0 0 0 0 -1 -2 0 5 -3 -3 3 4 8 -5 -17 -23 -13 -16 -5 -2 -2 -36 -39 -1 -48 -18 -73 -20 -19 -71 65 -59 61 -89 -100 -160 56 -182 258 -49 72 -16 246 -71 -15 95 -300 -219 94 224 134 -26 101 271 30 176 -261 -409 297 7 -55 -294 -97 280 311 -249 -380 269 107 -194 57 -215 -196 325 -325 -437 229 233 520 -182 168 424 -636 -449 -296 65 -739 584 -61 144 -36 -56 189 252 126 306 -29 278 80 77 280 -20 71 101 56 26 24 123 125 46 99 82 -19 -51 77 -10 50 -46 3 12 -27 -34 -2 47 6 -10
referenceSignalFFT_i after FFT 512:
0 -67 -31 -16 -39 -51 -72 -63 -3 -4 -26 -68 79 -38 45 7 -65 -173 5 -19 -30 -1 29 -132 -167 -42 19 -22 -271 178 -127 2 384 19 403 -384 -392 -399 110 9 27 -82 -104 -502 2 234 118 34 -176 -264 419 26 -64 268 -14 275 105 110 -342 -409 89 -243 222 -154 -235 85 351 -320 -187 -89 -144 -50 89 32 -115 300 -195 -198 298 -16 149 -65 114 257 -244 -356 -147 -8 -239 192 16 -78 -126 -123 160 68 126 73 -34 99 -41 10 58 -14 -16 -5 15 3 -2 14 17 -16 3 9 0 -9 13 -7 0 -4 -1 -2 -5 -3 -2 -1 -1 -2 0 1 1 0 0 0 1 -1 1 3 -4 -1 2 3 6 -3 -14 -18 -11 -13 -4 0 -2 -27 -30 -1 -35 -13 -52 -14 -13 -48 43 -39 40 -58 -63 -101 35 -111 155 -29 42 -9 140 -39 -8 52 -161 -115 50 115 68 -12 49 130 14 82 -119 -184 132 4 -23 -124 -40 114 124 -98 -146 103 41 -70 21 -75 -67 110 -107 -141 73 72 159 -53 49 121 -175 -120 -78 18 -185 143 -14 34 -8 -13 40 52 25 59 -5 51 14 13 45 -2 11 14 8 3 4 15 14 6 10 8 -1 -4 6 0 4 -2 1 1 0 0 0 2 1 0 0 1 1 0 1 3 2 1 1 4 -2 2 -3 6 3 -5 -9 -3 -13 -13 -2 -1 -7 -12 -9 6 -43 -12 -13 -48 7 -58 -24 -51 -39 14 10 -31 16 -141 187 -16 80 124 178 -118 -44 56 -156 -70 -69 142 112 -108 70 79 -19 72 -38 -99 147 99 -122 -112 41 127 27 -2 -129 187 124 -80 -13 -128 -45 14 -63 -112 -46 118 161 -49 12 43 -138 12 -39 30 -153 112 -34 102 66 59 -38 40 -42 49 14 15 53 14 36 4 30 29 1 3 6 14 11 20 15 5 -4 -1 -1 3 4 -2 1 2 1 -1 0 1 1 0 0 1 1 0 2 4 5 3 1 5 0 7 -10 9 -2 -7 -4 18 -17 -11 4 -2 -12 7 18 13 -57 -9 40 -100 37 -72 -127 -69 -156 124 125 79 -13 -189 239 7 146 355 244 -257 -114 66 -147 17 -296 197 196 -300 115 -28 -88 48 143 88 184 320 -353 -86 234 154 -218 244 -86 411 347 -108 -105 -277 19 -268 65 -25 -417 266 175 -33 -115 -229 -3 508 112 84 -27 -15 -116 398 396 381 -410 -16 -385 -9 113 -181 270 23 -31 44 159 122 -44 -9 28 9 -18 166 60 -14 -43 38 -90 68 28 8 -5 31 48 16 10 -6 11 46
referenceSignal Amplitude Spectrum 512:
28 84 39 22 41 82 90 64 5 70 46 73 93 78 52 61 115 174 123 109 31 11 58 158 178 52 274 72 282 326 132 301 403 247 440 388 394 421 129 576 744 101 323 680 642 475 196 194 542 346 471 441 342 417 206 354 117 224 356 485 394 351 376 316 254 310 356 320 345 424 306 179 92 267 147 301 232 295 310 225 338 111 116 268 344 356 160 53 349 266 55 181 164 153 170 92 140 102 39 101 85 24 75 15 44 38 15 5 8 22 22 30 18 12 4 9 13 8 6 4 1 3 5 3 2 2 2 2 0 1 1 0 0 2 3 2 1 4 4 5 9 8 6 7 14 22 17 16 4 2 10 27 32 9 54 15 58 71 28 68 95 61 110 98 100 111 36 160 210 29 93 202 196 150 63 62 179 115 161 152 119 150 73 130 44 84 135 188 154 139 154 129 104 129 151 136 149 186 135 80 44 122 67 142 109 141 151 108 167 53 59 137 175 182 82 27 185 143 32 98 88 83 95 52 81 59 21 61 48 13 45 6 25 22 10 3 5 15 14 18 11 8 5 5 9 4 4 2 1 1 1 0 0 2 1 0 0 1 1 0 1 3 2 2 1 4 2 4 6 6 5 5 10 18 13 13 3 1 8 22 25 8 43 12 47 57 24 58 81 51 94 84 87 97 31 141 187 25 84 183 178 136 56 57 164 106 151 142 113 141 70 125 43 83 131 183 151 136 151 128 104 132 154 139 152 191 139 82 44 128 70 149 115 150 162 118 179 59 66 150 194 203 93 30 209 161 35 112 102 97 111 60 94 71 26 71 59 16 56 8 31 29 13 5 6 18 17 22 15 10 4 6 12 5 4 2 1 2 2 1 0 2 1 0 0 1 1 0 2 4 5 3 1 7 3 7 10 9 8 8 17 29 21 19 6 2 12 36 42 13 74 20 83 101 41 101 142 90 167 152 160 178 57 262 351 49 162 355 346 266 114 115 334 219 310 298 237 301 153 272 92 182 297 418 349 320 357 306 253 319 379 348 389 491 363 222 119 350 196 421 331 437 475 353 548 184 203 481 636 677 316 106 739 584 131 423 397 385 451 252 405 306 116 331 281 80 281 48 174 158 71 27 36 123 126 172 115 83 47 63 118 68 57 46 5 33 55 37 10 47 12 47
perimeterSensoren Setup Finished
TbumperSensor::setup()
Programming GPS Module
Programming GPS Module finished
TBehaviour::reset
Blackboard:reset
Relay Off
!04,SET BEHAV -> BH_NONE
!03,Motor L measure offset
!03,0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 offset: 0.000000
!03,Motor R measure offset
!03,0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 offset: 0.000000
!03,Mow Motor measure offset
!03,0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 offset: 0.000000
Check if in charging station
NO Charging station detected
MANUAL MODE ACTIVATED
!03,ChargeSystem measure offsetCV
!03,7 5 1 3 2 2 1 3 7 9 5 3 2 6 5 3 offsetCV: 0.002418
!03,ChargeSystem measure offsetCC
!03,3 2 1 3 8 9 4 3 1 2 2 3 0 1 7 8 offsetCC: 0.001612
WATCHDOG ENABLED
Setup finished. Loop is running.
Version 1.0.0 Raindancer
Press H for help.