- 1 Troubleshooting
- 2 Console output
- 3 Sensor logging
- 4 How to report a new bug/new feature/new code
- 5 Further links
For detecting failures in the assembly or electronic parts, it is highly recommended to use an oscillscope (e.g. pocket oscillscope DSO201) for your measurements. An Oscilloscope allows you to detect short-time failures in power signals, perimeter sender and receiver signals, odometry signals and more.
Tutorial for pocket oscilloscopes: http://www.ardumower.de/index.php/de/forum/anleitungen-hilfe/142-bedienung-oszilloskop-dso201
If your robot beeps periodically, it is in ERROR state. Either run the serial console or 'pfodApp->Error Counters' to find out the detailed error. The possible solutions for each error are given below. For details about your robot settings, see Settings.
ERR_CPU_SPEED CPU speed error * Check I2C cables (e.g. reduce wire length) ERR_MOTOR_LEFT Left gear motor error * Check gear motor driver module and left gear motor (supply voltage, signal lines) * MC33926: ensure SLEW jumper is not set * Tracking: reduce Motor-Max-PWM and Tracking-P to reduce EMF ERR_MOTOR_RIGHT Right gear motor error * Check gear motor driver module and right gear motor (supply voltage, signal lines) * MC33926: ensure SLEW jumper is not set * Tracking: reduce Motor-Max-PWM and Tracking-P to reduce EMF ERR_MOTOR_MOW Mower motor error * Check mower motor driver module and mower motor (supply voltage, signal lines) * MC33926: ensure SLEW jumper is not set * Reduce Motor-Max-Power, so over-current is detected earlier ERR_MOW_SENSE Mower motor over-current * Check mower motor driver module and mower motor * Increase Motor-Max-Power, so over-current is detected later ERR_IMU_COMM IMU communication error * Check IMU module connections ERR_IMU_CALIB IMU calibration error * Start IMU calibration (either via Console or pfodApp->Settings->IMU) ERR_IMU_TILT IMU tilt error * Check IMU module and robot orientation ERR_RTC_COMM RTC communication error * Check RTC module connections, RTC battery etc. ERR_RTC_DATA RTC corrupt data error * Set and save RTC date and time ERR_PERIMETER_TIMEOUT Perimeter signal timeout * Check perimeter sender, wire etc. * Check coil polarity * Reduce Perimeter-smag, so timeout is higher * Increase Perimeter-timeout-seconds, so timeout is higher * Check your signal-to-noise ratio is higher than 1.0 ERR_TRACKING Perimeter tracking error * Check perimeter sender, wire etc. * Increase Perimeter-tracking-timeout, so timeout is higher ERR_ODOMETRY_LEFT Left motor odometry error * Check left odometry cable * Check left motor direction ERR_ODOMETRY_RIGHT Right motor odometry error * Check right odometry cable * Check right motor direction ERR_BATTERY Battery error * Check battery connections ERR_CHARGER Charger error * Check charger connections ERR_GPS_COMM GPS communication error * Check GPS cables ERR_GPS_DATA GPS data error * Check GPS antenna and cable ERR_ADC_CALIB ADC calibration error * Start ADC calibration (either via Console or pfodApp->ADC calibration) ERR_EEPROM_DATA EEPROM data error * Save user settings (either via Console or pfodApp->Settings-Save)
After fixing the error, you can delete errors:
Console: press... d for menu e=delete all errors
Ensure the I2C bus is working correctly. A console stucked at line 'initL3G4200D' indicates I2C is not working correctly.
Disable all pins not connected
Ensure that you have disabled all features and pins in the robot configuration that are not connected (not used).
Example: If you do not have connected odometry pins, disable them in the robot config (robot.cpp):
odometryUse = 0; // use odometry?
Motors working correctly
Run the serial console (Arduino IDE: CTRL+SHIFT+M, 19200 Baud) and press 'd' and ENTER for menu. Then press '1' and ENTER to run the motor test.
Any unexpected sensor triggering
If your robot does something unexpected, it might be a sensor that is incorrectly triggering. Check this via the serial console:
Run the serial console (Arduino IDE: CTRL+SHIFT+M, 19200 Baud), and start the robot. Each time a sensor triggers, the counter of that sensor will increase. See description of each sensor below. Now when your robot does something unexpected, have a look which of the sensor counters increased to locate the problem.
Some sensor not triggering?
Bluetooth not connecting?
- Verify that BT module baudrate is configured properly (using Ardumower Console) - activate programming button on BT module for programming procedure.
- Verify that BT module is 'paired' on your Android phone
- Verify that Arduino Mega is not powered via USB (but DC/DC instead)
Robot not stopping to rotate when reaching perimeter (home mode)
At first, verify that the perimeter tracking itself is working: Manually put the robot on the perimeter wire, and via ArduRemote App, choose 'Commands->Track' and verify the robot is tracking the perimeter. If it does not, adjusting the tracking PID parameters may help.
The position of the coil should be as indicated here:
If the robot runs over the perimeter wire (coil is then "outside" of perimeter loop) it will try to get "inside" the loop again by rotating. If getting the coil "inside" the loop by rotating is not possible, the robot will rotate endless.
The more the robot runs over the perimeter, the more difficult it is to get "inside" again by rotation. The robot speed should be reduced as well as moving the coil further outside.
NOTE: It's always a good idea to manually place the robot at the position where you saw the robot detecting the perimeter. The perimeter plot should change from "in" to "out" at that position (http://wiki.ardumower.de/index.php?title=Perimeter_wire#Receiver_diagnostics.2Ftroubleshooting). Then manually rotate the robot (without motor) at that position and verify that "out" changes again to "in". If that is not the case, the position of the coil is not OK or the robot drives too quickly and detects the perimeter too late.
When the robot starts, it outputs something like this in the serial console:
START Ardumower rXXXX press... d for menu v to change console output (sensor counters, values, perimeter etc.)
t 0 l177 v0 FORW spd 33 33 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 20.8 chg 21.7 0.0 imu 0 adc 0 Ardumower t 1 l177 v0 FORW spd 33 33 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 20.8 chg 21.7 0.0 imu 0 adc 0 Ardumower t 3 l177 v0 FORW spd 33 33 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 20.8 chg 21.7 0.0 imu 0 adc 0 Ardumower
Once a sensor triggers, its counter increases. Example (mower motor current overflow triggered):
t 4 l177 v0 FORW spd 33 33 0 sen 0 0 0 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 20.8 chg 21.7 0.0 imu 0 adc 0 Ardumower t 5 l177 v0 REV spd -26 -26 0 sen 0 0 1 bum 0 0 dro 0 0 son 0 yaw 0 pit 0 rol 0 bat 20.8 chg 21.7 0.0 imu 0 adc 1 Ardumower
Here is a description of each column:
t - time of current machine state (ms) l - loop () - cycles per second v - Verbose mode selected sensor (0 = counts / 1 = sensor values / 2 = sensor values) - Current machine status (FORW, REV, ROLL etc.) - After-home-drive? (1/0) spd - control / speed motor: left (PWM), right (PWM), mower (speed) sen - motor current overflow counter: left, right, mower bum - bumper counter: left, right son - ultrasonic distance-below: counter pit, roll - inclination (calculated with Accel sensor) yaw - compass course bat - battery voltage chg - charger voltage sensor
--- commands ---
'd': menu for testing, adjust IMU, Bluetooth 'v': monitorMode (show Value not Counter 'h': drive home 'p': track perimeter 'l': simulate left bumper 'r': simulate right bumper 's': simulate lawn sensor 'm': toggle mower motor 'c': simulate charging '+': rotate 90 degrees '-': rotate 90 degrees '3': activate model RC '0': OFF '1': Automode motorMowEnable
For PC data analysis, algorithm modelling and optimization, you can collect robot sensor data using pfodApp like this:
- Using your Android pfodApp, connect to your robot and choose 'Log sensors'. The logged sensor data will be displayed. Click 'Back' to stop logging (NOTE: for ArduRemote, press Android menu button before and choose 'Enable logging' to enable file logging).
- Connect your Android phone to the PC, if being asked on the phone choose 'Enable as USB device', so you phone shows as a new Windows drive on your PC.
- On your PC, launch Windows Explorer and choose the new Android drive, browse to the 'pfodAppRawData' folder (for ArduRemote: 'ArduRemote' folder), and copy the data file to your PC (you can identify files by their Bluetooth name and date).
How to report a new bug/new feature/new code
Click on 'this link' and create a new issue - Please let us know:
Your platform version (Arduino Mega 2560, Arduino Due) Your Arduino IDE version (latest code requires 1.6.3) Your exact operating system (Windows 8, Linux etc.) Your Ardumower code version (for a list of releases see https://github.com/Ardumower/ardumower/releases) Any other information that may be useful...