Ardumower Sunray

Requirements

• PCB 1.3 (incl. MC33926 motor drivers)
• Arduino Due
• IMU GY-88 (MPU6050, HMC5883L)
• 2 perimeter coils (left, right), perimeter sender
• motors using odometry
• Bluetooth module

Compass calibration

1. Install IMU module 35cm away from metal parts. Use 1m cable so you can move the module out of robot for calibration.

. Do no use metal parts (screws etc.) within 5cm of the module, use plastic screws. Fixate everything within 5cm of the module. A small movement of a cable etc. will make the calibration useless.

1. Move IMU out of robot and power-on robot.
2. On the PC, start 'processing_mag'.

1. Ensure there is at least >1m to all metal parts in the surrouding.
2. Rotate IMU module slowly into all directions and collect > 20,000 measurements.
3. Install IMU module in the robot at least 35cm away from metal parts.