Setup with the DUE

[max@birley_com]

Dear Bernard

I have replaced the mega with the Due.Many thanks with that

I loaded the software you sent and so far no smoke.

So it is looking good

Bluetooth is working and I see the new menu with Odo and IMU test.
I have calibrated the IMU. it was not accepted as shown in the log . So I will repeat it

So far the mini is very jerky. In manual it moves say half a turn stops then move ahead by some more then stops and so on

The encoders I have are 400 ticks per rev. When I was using them before to get a full rev in motor test I have to enter 1374 tick per rev

can you see anything to explain the jerkiness

currently odometer is on
imu is off

as always I appreciate your help

Max

SETUP
IMU error: no calib data
--------
accOfs=0.00,0.00,0.00
accScale=2.00,2.00,2.00
comOfs=0.00,0.00,0.00
comScale=2.00,2.00,2.00
--------
initL3G4200D
---calibGyro---
gyro calib min=-4.00 max=7.00 ofs=1.36 noise=7.72
counter=50
ofs=0.00,0.00,0.00
------------
matchSignal size=24
subSample=4
capture size=192
loadSaveErrorCounters: read
loadSaveErrorCounters addrstop=422
loadUserSettings
loadSaveUserSettings addrstop=391
loadSaveRobotStats: read
loadSaveRobotStats addrstop=826
START
Ardumower 1.7-Azurit-ber
Config: Ardumower
press...
d for menu
v to change console output (sensor counters, values, perimeter etc.)
sen_counters
------------------------------------------------ WARNING OVERLOAD CPU ----------------------------------------- Over 1000msec 4629
t 1 Loops 0 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 0.0 chg 0.0 0.0 imu 0 Ardumower
t 2 Loops 0 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 3 Loops22960 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 4 Loops21868 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 5 Loops21888 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 6 Loops21862 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 7 Loops21871 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 8 Loops21870 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 9 Loops21881 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 10 Loops21851 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 11 Loops21871 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 12 Loops21858 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 13 Loops21903 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 14 Loops21852 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 15 Loops21896 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 16 Loops21854 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 17 Loops21869 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 18 Loops21856 v0 OFF odo 0 0 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 19 Loops21902 v0 OFF odo 5 19 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 20 Loops21855 v0 OFF odo 54 58 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 21 Loops21771 v0 OFF odo 54 58 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 22 Loops21735 v0 OFF odo 54 58 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 23 Loops21767 v0 OFF odo 54 58 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 24 Loops21739 v0 OFF odo 54 73 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 25 Loops21760 v0 OFF odo 54 73 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 26 Loops21742 v0 OFF odo 54 73 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 27 Loops21781 v0 OFF odo 54 133 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 28 Loops21735 v0 OFF odo 54 218 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 29 Loops21745 v0 OFF odo 54 294 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 30 Loops21759 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 31 Loops21765 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 32 Loops21748 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 33 Loops21776 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 34 Loops21732 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 35 Loops21761 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 36 Loops21746 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 37 Loops21793 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 38 Loops21740 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 39 Loops21783 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 40 Loops21740 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 41 Loops21755 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 42 Loops21744 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 43 Loops21788 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 44 Loops21739 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 45 Loops21782 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 46 Loops21740 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 47 Loops21758 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 48 Loops21746 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 49 Loops21790 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 50 Loops21742 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 51 Loops21778 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 52 Loops21733 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 53 Loops21763 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 54 Loops21746 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 55 Loops21790 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower
t 56 Loops21739 v0 OFF odo 55 299 spd 0 0 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 14.2 chg 0.0 0.0 imu 0 Ardumower


regards
Max

 

[max@birley_com]

Just noticed in config.h, I selected USE_MINI rather than USE_MOWER as I am still playing with my mini. The problem is further down in the tab in indef statement I need to include "mini.h"
However mini.h does not exist as a tab in the software I am using

regards
Max

 

[bernard]

Hi Max.
Please it's better if we use this post for more precision on my firmware. http://www.ardumower.de/index.php/e...-azurit-full-odometry-mouvement-control#12946 I prefer to do like that to avoid confusion between the Real Azurit 1.07 and my version .
Thanks.