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THEMA: Arctic Hare mod by Jussi

Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17495

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Hello
I have a question to the firmware of Bernard.
I like all the new functions but i have a problem.
Today i started first time my loading station. My mower does not have any bumper.
When the mower go in his home house (loading station) he reached the loading contacts. But this
does not stop the motors. For me it looks like:
1. Drive in the house
2 Push loading contacts
3 Loader arduino switch perimeter off
4 Mower start searching perimter by turning
5 Crash inside the house
My question is: How can i modify the great Bernard firmware in that way that the charging function is like
the for example 1.09? (Without waiting for bumper)
Thanks a lot for any help
Best,
Bjoern

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17496

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robot.cpp is this function. You could try quick&dirty way, it might work.. change 'if ((bumperLeft || bumperRight))' to 'if (chgVoltage > 5)'
// check bumpers while tracking perimeter
void Robot::checkBumpersPerimeter() {
  if ((bumperLeft || bumperRight)) {
    motorLeftRpmCurr = motorRightRpmCurr = 0 ;
    setMotorPWM( 0, 0, false );//stop immediatly and wait 2 sec to see if voltage on pin
    readSensors();  //read the chgVoltage
    Console.println("Bump on Something check if it's the station");
    setNextState(STATE_STATION_CHECK, rollDir);
  }
}
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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17497

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I hope you have sonar right.
Do Jussip change and réduce a maximum the docking speed
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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17498

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Hello
Will try. Where i can change this speed?
Thanks!
Bjoern

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17499

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I am not at home but you need to search the checksonarperimeter function and change for example the maxspeedpwm/2 by maxspeebpwm/3 .

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17500

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Cool. Thank you. Will test tomorow.
Do you have an explaning on the Station parameter?
In your video your mower is leaving the station so cool. I also want to send him out of the house and then direct back to the cable
but i dont understand the values:
- Roll distance cm
- Accel Distance after roll
- Station check distance
My wish:
1 Move back 1m
2 Turn 45° to right
3 Move forward to find the cable
4 Follow cable for x m like in Timer defined

Do you have an idea?
Best,
Björn

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17501

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No issue for that..
I send explanation of the setting

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17504

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Hello
Just tested the changes like this in robot.cpp:
// check bumpers while tracking perimeter
void Robot::checkBumpersPerimeter() {
if (chgVoltage > 5) {
motorLeftRpmCurr = motorRightRpmCurr = 0 ;
setMotorPWM( 0, 0, false );//stop immediatly and wait 2 sec to see if voltage on pin
readSensors(); //read the chgVoltage
Console.println("Bump on Something check if it's the station");
setNextState(STATE_STATION_CHECK, rollDir);
}
}

But it does not work. :(
1 The mower reaches the house
2 Motors stops
3 Short break
4 Left turn ~20°
5 All stop
I guess the reason is the ";//stop immediatly and wait 2 sec to see if voltage on pin"
In this 2 secounds the charger Arduino switch of perimeter and then mower start to search.
During turning he is leaving charge contacts. That means the charger switch on perimter back. Next status will be Stop.
Where can i delete this 2 sec waiting time?
Thanks a lot
Bjoern

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17505

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I have not tested this and like said 'quick&dirty' method, maybe works maybe not. But if I can't get bumpers working right on docking then I'll try to make better solution for this.
Mower sees voltage because it stops and then want to check voltage again after delay
Delay is in robot.cpp, try ' delayToReadVoltageStation = millis();'
    case STATE_STATION_CHECK:
      delayToReadVoltageStation = millis() + 2500;

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17506

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Hi.
I put change and explain on GitHub.So test and tell me
See the last commit
Maybe do not use the station_check at all

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17507

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Something like that?
// check bumpers while tracking perimeter
void Robot::checkBumpersPerimeter() {
  if (chgVoltage > 5) {
    motorLeftRpmCurr = motorRightRpmCurr = 0 ;
    setMotorPWM( 0, 0, false );//stop immediatly and wait 2 sec to see if voltage on pin
    readSensors();  //read the chgVoltage
    Console.println("Bump on Something check if it's the station");
    setNextState(STATE_STATION, 0);
  }
}

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17508

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Yes but including the test on usebumperDock (see git)

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17509

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Hello
Thank you both for your help.
But up to now it is not working.
Same situation:
1 Click on home
2 Robot move slowly in the house
3 Reach the contacts
4 Motor stop
5 ~1s break
6 Turn 25° to left
7 Motors stop

So with all your changes and explaining i guess it is a different problem.
But with the stock 1.09 it worked yesterday. Hmmm
Any idea? I dont want to go to stock version :-)
By the way: I am not sure that the Factory reset with ArdumRemote is working.
The way is to only press the button and then reboot?
Thanks for your time
Bjoern

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17510

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For factory setting it is ok.
Press factory setting and reboot .
Only save setting after reboot.
Do you use the ardiino ide console.
If yes you can use d and x to see all the value and check the station value.
.
The step 6 is not at all what I expect ?????.
You can try to put the mower directly to state_off and normally if the charging voltage is here the mower jump to state_station.

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17511

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@jussip
What is the behavior of your bumper when docking ?

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17512

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Thanks.
Yes, If i push my friend manual to the contacts it jumps direct to charging mode.
On the Arduino console i am working. I think your PiArdumower have it also?
Best,
Bjoern

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17513

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Yes but the d and x option are not yet added into piardumower.
If change the state to off line 4008 what is the result ?

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17514

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Bernard schrieb: @jussip
What is the behavior of your bumper when docking ?

Bumpers not always hit to station because someone made clearance for bumper B) but luckily it's not completely success :D
If bumper not trigger mower start that 'go around object' -behaviour
Maybe I fix this by adding material to station so bumper can hit every time.

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17515

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Tomorrow I am at home and I check the docking without bumper
But sonar or rfid are mandatory to reduce speed before dock.
Also maybe add something to try docking again is voltage is lost by adding a state small rev and forward

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Arctic Hare mod by Jussi 2 Monate 3 Wochen her #17517

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Strange thing is that I can't get UseBumperDock setting to change. Not pfodd and not piardu.. piardu shows it value is 255 and pfodd says NO

Few tkinter things I can't solve myself :)



How to remove that rectangle which always is on first checkbox? (only this page and everything is same syntax than other pages)
wsFrame = tk.Frame(tabRainTemp)
wsFrame.place(x=10, y=130, height=150, width=130)
tk.Label(wsFrame,text="WS Rain data",fg='green').pack(side='top',anchor='w')
RdBtn_ws1=tk.Radiobutton(wsFrame, text="Last 15 min.", variable=tk_wsRainData, value=1).pack(side='top',anchor='w')
RdBtn_ws2=tk.Radiobutton(wsFrame, text="Last 60 min.", variable=tk_wsRainData, value=2).pack(side='top',anchor='w')
RdBtn_ws3=tk.Radiobutton(wsFrame, text="Actual hour", variable=tk_wsRainData, value=3).pack(side='top',anchor='w')

Is it possible somehow change text color when variable changes? I made error page and I have been trying to get that when no errors, numbers color is green and when error present color change red. :blink:

Anhang:

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