SW modification - bumper high speed reaction

[alda]

Hi,
I need help with following modification.
I want imediate mower stop when left/right bumper is pressed.
Problem is, that motors are controled via motorControl(). Here with odometry via PID or without odometry with acceleration on - in both cases stop isn't imediate.

I tried change checkbumpers from :

void Robot::checkBumpers(){ 
   if ((mowPatternCurr == MOW_BIDIR) && (millis() < stateStartTime + 4000)) return; 
 
   if ((bumperLeft || bumperRight)) {     
       if (bumperLeft) { 
         reverseOrBidir(RIGHT);           
       } else { 
         reverseOrBidir(LEFT); 
       }     
   }   
 }

to :

// check bumpers
void Robot::checkBumpers(){
  if ((mowPatternCurr == MOW_BIDIR) && (millis() < stateStartTime + 4000)) return;
  if ((bumperLeft || bumperRight)) { 

    setMotorPWM( 0, 0, false );    // immediate stop at bumping

    if (bumperLeft) {
      reverseOrBidir(RIGHT);          
    } else {
      reverseOrBidir(LEFT);
    }    
  }  
}

Mower will stop very fast, but will not start again till bumper is released.

Please can you help me modification which make imediate stop of mower when bumper is pressed ?

Thanks

Alex

 

[bernard]

Hi.
Normaly this may work but need to be tested .

in robot.cpp

// check bumpers
void Robot::checkBumpers(){
  if ((mowPatternCurr == MOW_BIDIR) && (millis() < stateStartTime + 4000)) return;

  if ((bumperLeft || bumperRight)) { 
	// immediate stop at bumping
    motorLeftRpmCurr = motorRightRpmCurr = 0 ;
    setMotorPWM( 0, 0, false );
    if (bumperLeft) {
      reverseOrBidir(rollDirection);          
    } else {
      reverseOrBidir(rollDirection);
    }    
  }  
}

And Also if you use protector board you can reduce the motorZeroSettleTime
Do not put less than 2000ms to avoid problem with the motor controler.
In Mower.cpp

motorZeroSettleTime   = 2000 ; // defaut 3000 how long (ms) to wait for motors to settle at zero speed

 

[bernard]

Sorry Delete

 

[alda]

Hi,
modification in in robot.cpp not working, because if bumper is still pressed,
setMotorPWM( 0, 0, false ); is still stopping motor movement. Tested yesterday.

Alex

 

[bernard]

Ok.
You also need to remove the checkBumpers() test in the reverse function or effectively the mower definitively stop

case STATE_REVERSE:
      // driving reverse
      checkErrorCounter();
      checkTimer();
      checkCurrent();
      //checkBumpers();
      checkDrop();                                                                                                                            // Dropsensor - Absturzsensor
      //checkSonar();
      checkPerimeterBoundary();
      //checkLawn();

 

[alda]

Yes, this was missing, remove the checkbumpers from the reverse. Now it's perfect :
https://youtu.be/wW6QokoiwgE
Thanks

Alex