Welcome, Guest
Username: Password: Remember me
  • Page:
  • 1

TOPIC: default Einstellungen bei Standard ArduMower

default Einstellungen bei Standard ArduMower 3 months 3 weeks ago #17208

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
Hallo zusammen,

Der Mäher ist zusammengebaut und hat die ersten Tests im Garten absolviert. Ich bin mir sicher das die Probleme die ich habe reine Einstellungssache ist. Darum stelle ich mir die Frage worauf sich die Standard Einstellung in der aktuellen azurit Software beziehen? Prinzipiell bin ich der Meinung das der Mover in den Grundeinstellung lauffähig sein sollte.

Es wäre sehr schön wenn einer seine lauffähige Konfiguration mal posten könnte, mit ein paar Kommentaren warum ehr von den Standort Einstellungen abgewichen ist. Ich denke das würde fiele fragen im Vorfeld klären.

Und jetzt muss ich aber auch mal ein Lob an die Gründer des Projekts richten, es ist zwar etwas umständlich sich durch die unzähligen Anleitungen zu kämpfen dennoch wurde bis jetzt jeder Punkt in der Hardware im Detail erklärt! Grundsätzlich ist das ArduMower Projekt erstklassig und kann es meiner Meinung nach mit jedem gekauften Mäher aufnehmen! Klasse ! Weiter so!

Please Log in or Create an account to join the conversation.

default Einstellungen bei Standard ArduMower 3 months 1 day ago #17381

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
Hallo?

Kann wirklich keiner helfen ?
Bis jetzt ist nur noch 1 Problem übriggebliebene und ich weiß wirklich nicht mehr weiter : das perimeter Tracking oder das Home fahren wir nach ein paar Metern abgebrochen mit dem error „rechts Motor error „

Es wäre schön wenn mir einer helfen könnte

Vg Thorsten

Please Log in or Create an account to join the conversation.

default settings for default ArduMower 3 months 1 day ago #17382

  • Bernard
  • Bernard's Avatar
  • Offline
  • User
  • User
  • Posts: 985
  • Thank you received: 186
Into motor setting check the Power in Watt on left and right motor. while tracking.
Try to increase Power Max to see if the error is out.

Please Log in or Create an account to join the conversation.

default settings for default ArduMower 3 months 1 day ago #17385

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
Thank you, I will watch when I'm in the garden again and it does not rain :)

Please Log in or Create an account to join the conversation.

default Einstellungen bei Standard ArduMower 2 months 2 weeks ago #17552

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
Hello, Thanks for the tip, after which I had raised the max pwr it was better.

but then I noticed that I did not have the azurite release from github but the most recent if there was a big difference in it I do not know.

I have made all the settings and reduced the speed when perimetertrecking. now runs very well on the first test ..

Thorsten

Please Log in or Create an account to join the conversation.

default Einstellungen bei Standard ArduMower 2 months 2 weeks ago #17573

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
Hallo nochmal :)

So jetzt läuft alles bis auf eine Kleinlichkeit:

Der Mower empfängt in dem mittleren bereich des Garten's kurz das outside Signal und dreht sich dann nur noch im Kreis. Stelle ich den Mower einen meter weiter Rechts /links ist wieder alles ok.
Woran könnte es liegen?

anbei die mover CPP
//
// IMPORTANT: choose your robot type and PCB version in 'mower.h' !
//


Mower::Mower(){
#if defined (ROBOT_ARDUMOWER)
name = "Ardumower"; //Set the Name of BT
#else
name = "Mini";
#endif

//
wheel motors
motorAccel = 1000; // motor wheel acceleration - only functional when odometry is not in use (warning: do not set too low)
#if defined (ROBOT_ARDUMOWER)
motorPowerMax = 75; // motor wheel max power (Watt)
motorSpeedMaxPwm = 255; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023)
motorSpeedMaxRpm = 25; // motor wheel max RPM (WARNING: do not set too high, so there's still speed control when battery is low!)
motorLeftPID.Kp = 1.5; // motor wheel PID controller
motorLeftPID.Ki = 0.29;
motorLeftPID.Kd = 0.25;
motorZeroSettleTime = 3000 ; // how long (ms) to wait for motors to settle at zero speed
motorReverseTime = 1200; // max. reverse time (ms)
motorRollTimeMax = 1500; // max. roll time (ms)
motorRollTimeMin = 750; // min. roll time (ms) should be smaller than motorRollTimeMax
#else // ROBOT_MINI
motorPowerMax = 2.0; // motor wheel max power (Watt)
motorSpeedMaxPwm = 127; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023)
motorSpeedMaxRpm = 50; // motor wheel max RPM (WARNING: do not set too high, so there's still speed control when battery is low!)
motorLeftPID.Kp = 0.2; // motor wheel PID controller
motorLeftPID.Ki = 0.0;
motorLeftPID.Kd = 0.0;
motorZeroSettleTime = 0 ; // how long (ms) to wait for motors to settle at zero speed
motorReverseTime = 2200; // max. reverse time (ms)
motorRollTimeMax = 2000; // max. roll time (ms)
motorRollTimeMin = 750; // min. roll time (ms) should be smaller than motorRollTimeMax
#endif
motorSenseRightScale = ADC2voltage(1)*1905; // ADC to right motor sense milliamp
motorSenseLeftScale = ADC2voltage(1)*1905; // ADC to left motor sense milliamp
motorPowerIgnoreTime = 2000; // time to ignore motor power (ms)
motorForwTimeMax = 80000; // max. forward time (ms) / timeout
motorBiDirSpeedRatio1 = 0.3; // bidir mow pattern speed ratio 1
motorBiDirSpeedRatio2 = 0.92; // bidir mow pattern speed ratio 2

motorRightSwapDir = 0; // inverse right motor direction?
motorLeftSwapDir = 0; // inverse left motor direction?

//
mower motor
motorMowAccel = 2000; // motor mower acceleration (warning: do not set too low) 2000 seems to fit best considerating start time and power consumption
motorMowSpeedMaxPwm = 255; // motor mower max PWM
motorMowPowerMax = 75.0; // motor mower max power (Watt)
motorMowModulate = 0; // motor mower cutter modulation?
motorMowRPMSet = 3300; // motor mower RPM (only for cutter modulation)
motorMowSenseScale = ADC2voltage(1)*1905; // ADC to mower motor sense milliamp
motorMowPID.Kp = 0.005; // motor mower RPM PID controller
motorMowPID.Ki = 0.01;
motorMowPID.Kd = 0.01;

//
free wheel sensor
freeWheelUse = 0; // has free wheel sensor?

//
bumper (BumperDuino)
bumperUse = 0; // has bumpers?
tiltUse = 0; // use tilt-sensor?

//
drop
dropUse = 0; // has drops? Dropsensor - Absturzsensor vorhanden ?
dropcontact = 1; // contact 0-openers 1-closers Dropsensor - Kontakt 0-Öffner - 1-Schließer betätigt gegen GND

//
rain
rainUse = 1; // use rain sensor?

//
sonar
sonarUse = 1; //geändert Thorsten // use ultra sonic sensor? (WARNING: robot will slow down, if enabled but not connected!)
sonarLeftUse = 1;
sonarRightUse = 1;
sonarCenterUse = 1; //geändert Thorsten
sonarTriggerBelow = 20; //Geändert Thorsten // ultrasonic sensor trigger distance (0=off)
sonarSlowBelow = 4; //geändert Thorsten // ultrasonic sensor slow down distance

//
perimeter
perimeterUse = 1; // geändert Thorsten // use perimeter?
perimeterTriggerTimeout = 0; // perimeter trigger timeout when escaping from inside (ms)
perimeterOutRollTimeMax = 2000; // roll time max after perimeter out (ms)
perimeterOutRollTimeMin = 750; // roll time min after perimeter out (ms)
perimeterOutRevTime = 2200; // reverse time after perimeter out (ms)
perimeterTrackRollTime = 1500; // roll time during perimeter tracking
perimeterTrackRevTime = 2200; // reverse time during perimeter tracking
#if defined (ROBOT_ARDUMOWER)
perimeterPID.Kp = 16; // perimeter PID controller
perimeterPID.Ki = 8;
perimeterPID.Kd = 0.8;
#else // ROBOT_MINI
perimeterPID.Kp = 24.0; // perimeter PID controller
perimeterPID.Ki = 7.0;
perimeterPID.Kd = 9.0;
#endif

trackingPerimeterTransitionTimeOut = 2500; // never<500 ms
trackingErrorTimeOut = 10000; // 0=disable
trackingBlockInnerWheelWhilePerimeterStruggling = 1;
MaxSpeedperiPwm = 150; //geändert Thorsten 200 // speed max in PWM while perimeter tracking
//
lawn sensor
lawnSensorUse = 0; // use capacitive lawn Sensor

//
IMU (compass/accel/gyro)
imuUse = 0; // use IMU?
imuCorrectDir = 0; // correct direction by compass?
imuDirPID.Kp = 5.0; // direction PID controller
imuDirPID.Ki = 1.0;
imuDirPID.Kd = 1.0;
imuRollPID.Kp = 0.8; // roll PID controller
imuRollPID.Ki = 21;
imuRollPID.Kd = 0;

//
model R/C
remoteUse = 0; //geändert Thorsten // use model remote control (R/C)?

//
battery
#if defined (ROBOT_ARDUMOWER)
batMonitor = 1; // monitor battery and charge voltage?
batSwitchOffIfBelow = 21.7; // switch off battery if below voltage (Volt)
batGoHomeIfBelow = 23.7; // drive home voltage (Volt)
startChargingIfBelow = 29.0; //geändert thorsten (32) // start charging if battery Voltage is below (99999=disabled)
batFull = 29.4; // battery reference Voltage (fully charged) PLEASE ADJUST IF USING A DIFFERENT BATTERY VOLTAGE! FOR a 12V SYSTEM TO 14.4V
batFullCurrent = 0.1; // current flowing when battery is fully charged (amp), (-99999=disabled)
#else // ROBOT_MINI
batMonitor = 1; // monitor battery and charge voltage?
batSwitchOffIfBelow = 5.0; // switch off battery if below voltage (Volt)
batGoHomeIfBelow = 5.5; // drive home voltage (Volt)
startChargingIfBelow = 8.0; // start charging if battery Voltage is below (99999=disabled)
batFull = 8.0; // battery reference Voltage (fully charged) PLEASE ADJUST IF USING A DIFFERENT BATTERY VOLTAGE! FOR a 12V SYSTEM TO 14.4V
batFullCurrent = -99999; // current flowing when battery is fully charged (amp), (-99999=disabled)
#endif

chargingTimeout = 2147483647; // safety timer for charging (ms) 12600000 = 3.5hrs (2147483647=disabled)

#if defined (PCB_1_2) // PCB 1.2
batSwitchOffIfIdle = 0; // switch off battery if idle (minutes, 0=off)
batFactor = voltageDividerUges(47, 5.1, 1.0)*ADC2voltage(1)*10; // ADC to battery voltage factor *10
batChgFactor = voltageDividerUges(47, 5.1, 1.0)*ADC2voltage(1)*10; // ADC to battery voltage factor *10
chgFactor = ADC2voltage(1)*10; // ADC to charging current ampere factor (see mower.h for macros)
#elif defined (PCB_1_3) // PCB 1.3
batSwitchOffIfIdle = 8; // switch off battery if idle (minutes, 0=off)
batFactor = voltageDividerUges(100, 10, 1.0)*ADC2voltage(1)*10; // ADC to battery voltage factor *10
batChgFactor = voltageDividerUges(100, 10, 1.0)*ADC2voltage(1)*10; // ADC to battery voltage factor *10
chgFactor = ADC2voltage(1)*5; // ADC to charging current ampere factor (see mower.h for macros)
DiodeD9 = 0.36; // Spannungsabfall an der Diode D9 auf den 1.3 Board (Die Spannungsanzeige ist zu niedrig verursacht durch die Diode D9) **UZ**
#endif

batChargingCurrentMax = 1.6; // maximum current your charger can devliver

//
charging station
stationRevTime = 1800; // charge station reverse time (ms)
stationRollTime = 1000; // charge station roll time (ms)
stationForwTime = 1500; // charge station forward time (ms)
stationCheckTime = 1700; // charge station reverse check time (ms)

//
odometry
odometryUse = 1; // use odometry?

#if defined (ROBOT_ARDUMOWER)
odometryTicksPerRevolution = 1060; // encoder ticks per one full resolution (without any divider)
wheelDiameter = 250; // wheel diameter (mm)
odometryWheelBaseCm = 36; // wheel-to-wheel distance (cm)
odoLeftRightCorrection = true; // left-right correction for straight lines?
#else // ROBOT_MINI
odometryTicksPerRevolution = 20; // encoder ticks per one full resolution
wheelDiameter = 70; // wheel diameter (mm)
odometryWheelBaseCm = 14; // wheel-to-wheel distance (cm)
odoLeftRightCorrection = false; // left-right correction for straight lines?
#endif

#if defined (PCB_1_3)
#define DIVIDER_DIP_SWITCH 2 // sets used PCB odometry divider (2=DIV/2, 4=DIV/4, 8=DIV/8, etc.)
odometryTicksPerRevolution /= DIVIDER_DIP_SWITCH; // encoder ticks per one full resolution
#endif
odometryTicksPerCm = ((float)odometryTicksPerRevolution) / (((float)wheelDiameter)/10.0) / (2*3.1415); // computes encoder ticks per cm (do not change)

//
GPS
gpsUse = 1; // use GPS?
stuckIfGpsSpeedBelow = 0.2; // if Gps speed is below given value the mower is stuck
gpsSpeedIgnoreTime = 5000; // how long gpsSpeed is ignored when robot switches into a new STATE (in ms)

//
other
buttonUse = 1; // has digital ON/OFF button?

//
user-defined switch
userSwitch1 = 0; // user-defined switch 1 (default value)
userSwitch2 = 0; // user-defined switch 2 (default value)
userSwitch3 = 0; // user-defined switch 3 (default value)

//
timer
timerUse = 1; //geändert Thorsten // use RTC and timer?

//
bluetooth
bluetoothUse = 1; // use Bluetooth module? (WARNING: if enabled, you cannot use ESP8266)

//
esp8266
esp8266Use = 1; //geändert Thorsten // use ESP8266 Wifi module? (WARNING: if enabled, you cannot use Bluetooth)
esp8266ConfigString = "config:F"; // geändert Thorsten


//
mower stats
statsOverride = false; // if set to true mower stats are overwritten - be careful
statsMowTimeMinutesTotal = 300;
statsBatteryChargingCounterTotal = 11;
statsBatteryChargingCapacityTotal = 30000;
//
configuration end


VG
Thorsten

Please Log in or Create an account to join the conversation.

Last Edit: by Thorsten-ac.

default Einstellungen bei Standard ArduMower 1 month 4 weeks ago #17700

  • Thorsten-ac
  • Thorsten-ac's Avatar Topic Author
  • Offline
  • User
  • User
  • Posts: 37
  • Thank you received: 2
hallo zusammen,

zur Info: bei mir war das Poti am Empfänger defekt nach dem ich einen 10K widerstand (hatte ich hier schon gelesen ) eingelötet habe funktioniert jetzt alles :)

Sollte man eventuell im WIKI dokumentieren ....

vg
Thorsten

Please Log in or Create an account to join the conversation.

  • Page:
  • 1
Time to create page: 0.416 seconds