AzuritBer Firmware (English)

Test requirements

Security note: For security reasons, always remove mower blades in your first tests!

Important: For your first wheel motor tests, jack your robot so that the tires can run freely without ground contact!

What is AzuritBer and Why

AzuritBer was build for DENNA,ROBOMOW and PARANELLO platform and use Odometry or IMU to control the state change. It can only run on DUE and Odometry is mandatory (minimum 400 ticks per rev).But it's possible to adjust setting to work for other kind of platform.

This version always use odometry into all movement (reverse,roll etc...) .The result is a more smooth movement without pause between all the diffrents state.

2 Usefull option are Raspberry PI and RFID module.

At the beginning of the dev i need many debug message to perfectly adjust the firmware, so i add a raspberry and record all the mowing duration in a Console. Actually PI is optional, but help a lot to find trouble in the behaviour and to communicate (With your PC,or home automation) Other option is the RFID tag reader that help :

To manage up to 3 mowing area without any wire connection between them.(1 Station sender and 2 wifi sender for other area)

To help the back to station very fast.

To escape from island

To change tracking speed (For example reduce just before docking)

Possible Option

level 1

It's only the platform without Raspberry and RFID

The mower can run in full automatic mode but can't manage multiple distinct mowing area.

The only acces to mower is based on Arduremote over Bluetooth

level 2

The platform And Raspberry Pi but no RFID

The mower can run in full automatic mode but can't manage multiple distinct mowing area.

It's possible to acces to mower from your Wifi and set everything from your Sofa (Including firmware upgrade)

Home Automation can control the mower using MQTT message and start mowing according your automation.

level 3

The platform And Raspberry Pi and RFID reader

It's level 2 but you can now set multiple distinct mowing area

The back to station,escape from island, change speed while tracking is now possible.

Prerequise to follow this WIKI: BT Module connected on PCB1.3 (ESP32 is also possible) and Arduremote into Android phone

First start

For the first start on a new RTC eeprom the firmware use the factory setting value locate into mower.cpp and you need to do a save setting and reboot.

Motor Setting

First step is the Odometry setting: