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THEMA: Overcompensation and oscillation on compass test

Overcompensation and oscillation on compass test 1 Woche 5 Tage her #12151

  • jonathanbyrn
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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?

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Overcompensation and oscillation on compass test 1 Woche 5 Tage her #12156

  • nero76
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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 ( 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 ( wiki.ardumower.de/index.php?title=PID_control ) and they have been tuned for the Ardumower chassis and motors ( www.marotronics.de/Ardumower-Kits_2 ).
Regards,
Alexander

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Overcompensation and oscillation on compass test 1 Woche 3 Tage her #12173

  • jonathanbyrn
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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!

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