AzuritBer Firmware (English)
Inhaltsverzeichnis
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!
Prerequise to follow this WIKI: BT Module connected on PCB1.3 (ESP32 is also possible) and Arduremote into Android phone
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 on other platform.
This version always use odometry into all movement (reverse,roll etc...) .The result is a more smooth movement without pause between all the différents state and the possibility to mow by lane for big area and faster mowing
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
Possible Option
Level 1 Standard
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.
Start using timer at different location on the perimeter wire with 3 possible mowing behaviour: Mow wire,Random Mode or By Lane Mode
The only acces to mower is based on Arduremote over Bluetooth
Level 2 Raspberry
The platform And Raspberry Pi but no RFID
It's Level 1 but now:
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 Raspberry + Rfid reader
The platform And Raspberry Pi and RFID reader and at least 1 Wifi sender.
It's level 2 but now:
You can setup 3 distinct mowing area
The fast return to station, easy escape from island, and change speed while tracking are now possible.
First start Level 1
If you want to use IMU ,Be carrefull to choose the correct firmware (GY-88,GY-87 and MPU-9250 are possible)
Only For the first start on a new RTC eeprom and after uploading the sketch Into arduremote COMMAND click on OFF and do a save setting and reboot.
The PC is connected on Due programming Port and the console speed is set at 115200 bps.
Before upload the sketch ,verify that into mower.h the line :
* #define Console Serial * //#define Console SerialUSB
are set like that.
All message are received inside the arduino ide console
Odometry Setting
Go To : Main Menu / Setting / Odometry
You need to set the correct ticks per one full revolution and check the result
Go To : Main Menu / Test ODO
