Raindancer Firmware (English) - Versionsgeschichte

Roland: /* Overview */

2020-08-09T12:00:14Z

‎Overview

Roland: /* Overview */

2020-08-09T11:58:17Z

‎Overview

Roland: /* Overview */

2020-08-09T11:56:45Z

‎Overview

Roland: /* Overview */

2020-08-09T11:54:29Z

‎Overview

Roland am 9. August 2020 um 10:33 Uhr

2020-08-09T10:33:40Z

Roland: /* Archimedean Spiral */

2020-08-09T10:31:25Z

‎Archimedean Spiral

Roland: /* Mowing zones between adjacent surfaces */

2020-08-09T10:30:37Z

‎Mowing zones between adjacent surfaces

Roland am 9. August 2020 um 10:20 Uhr

2020-08-09T10:20:32Z

Roland am 9. August 2020 um 10:20 Uhr

2020-08-09T10:20:11Z

Roland am 9. August 2020 um 10:18 Uhr

2020-08-09T10:18:51Z

@@ Zeile 77: / Zeile 77: @@
   https://www.electronic-software-shop.com/support/kostenlose-datei-viewer/?xoid=oep38ca4ehqn37a7dn3rnrpie6
 The files of the BHT are here:
-  https://github.com/kwrtz/Raindancer/tree/master/Documentation
+  https://github.com/Ardumower/Raindancer/tree/master/Documentation
 The robot knows two modes: Manual and Auto. In manual mode, all services are running, but the Behavior Tree (BHT) is off. In auto mode, the BHT is activated.

@@ Zeile 65: / Zeile 65: @@
 The software is modular. The individual modules are hardly influence each otherl. This makes it relatively easy to modify or extend something.
-  https://github.com/kwrtz/Raindancer/blob/master/Documentation/SoftwareStructure.pdf
+  https://github.com/Ardumower/Raindancer/tree/master/Documentation/SoftwareStructure.pdf
 The UMLET software was used to display and edit the Structure software.

@@ Zeile 42: / Zeile 42: @@
 The firmware was optimized for '' 'not with the perimeter wire fenced obstacles' '' on the lawn. Instead of driving at full speed against the obstacle, the speed is reduced from a certain distance and drove gently against the obstacle. Prerequisite for this are sonar sensors. This feature is optional.
 The robot supports a self-made Bumperduino with two MaxSonar sonar sensors and an MPX5010DP FREESCALE pressure sensor for a pressure wave hose.
-  https://github.com/kwrtz/Raindancer/blob/master/DipTrace/DistanceBumperSensor/DistanceBumperSensor.pdf
+  https://github.com/Ardumower/Raindancer/tree/master/DipTrace/DistanceBumperSensorDistanceBumperSensor.pdf
 The evaluation is done by an Arduino Nano, which is connected to the PinUserSwitch2 / 3 of the PCB1.3. Upon detection of an obstacle with the sonar sensors, the robot slows down and bumped gently against the obstacle where the bumper or bumper duino triggers.
 The board is relatively simple. This allows them to be easily soldered together on a laboratory board. The MaxSonar sensors can be omitted and a separate solution can be connected to the Nano.

@@ Zeile 24: / Zeile 24: @@
 The Mower is in the charging station. The Mower drives from the charging station a predetermined distance along the perimeter to an area and then begins to mow after the chaos principle. The mowing time is approx. 130min-150min with the original Ardumowerkomponents. After the battery voltage has dropped to 23.7V, the robot looks for the perimeter cable and drives it to the charging station. Once in the charging station, the battery is charged. The next mowing operation is restarted via the mobile phone with a range command. (The robot can also be operated without a charging station.)
-The firmware was developed for robots with the drive motor rear, but can also be used for the original Ardumower chassis. Optimizations for the original Ardumower chassis will be made later. The mower turns on the perimeter. If a coil has passed over the perimeter cable, the robot will continue driving for approx. 20cm. Then both coils are turned into the loop and from then on it will be further rotated at a random angle. Since the original Ardumower chassis has a short distance between spools and wheels, here is the workaround: In the config.h can be set that the mower drives back a certain way, then turns a fixed angle (rotation simulated on the perimeter) and after the turning the fixed angle, the random angle is rotated.
+The firmware was developed for robots with the drive motor rear, but can also be used for the original Ardumower chassis.
 Internally in the firmware, distances are traveled in cm. This means that encoders are needed.
@@ Zeile 85: / Zeile 86: @@
 If the robot is in MANUAL mode, it can be switched to automode using command A. If the robot then recognizes the perimeter signal, it starts mowing.
 =For minimum commissioning, the following requirements should be met=

← Nächstältere Version		Version vom 9. August 2020, 10:33 Uhr
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−	'''This documentation is for firmware version 2.x.x.	+	'''This documentation is for firmware version 2.x.x.'''


−	'''The documentation of version 1.1.1 you can find here [[Raindancer Firmware V1.x.x (English) \| Raindancer Firmware V1.1.1]]	+	'''The documentation of version 1.1.1 you can find here [[Raindancer Firmware V1.x.x (English) \| Raindancer Firmware V1.1.1]]'''

← Nächstältere Version		Version vom 9. August 2020, 10:31 Uhr
Zeile 815:		Zeile 815:

	Furthermore, it must be taken into account that the outputs of the mower motor driver have been interconnected. This is not recommended by the manufacturer and provides incorrect current measurement.		Furthermore, it must be taken into account that the outputs of the mower motor driver have been interconnected. This is not recommended by the manufacturer and provides incorrect current measurement.
−
−	~~==Archimedean Spiral==~~
−	If the mower motor is loaded, an Archimedean spiral can be activated. It starts with a small curve at the start, so that the inner wheel turns. Therefore, a small tuft of grass will remain in the middle of the spiral.
−
−	~~The spiral is activated in the config.h with the following line:~~
−	~~#define CONF_ACTVATE_AUTO_SPIRAL true~~
−
−	~~The parameters listed below can be customized as desired. If the spiral is turned too often, the robot will not get off the ground and will only work one area of the lawn.~~
−
−	~~The following parameters in the config.h affect the activation of the spiral:~~
−	~~#define CONF_MOW_MOT_UNDER_HEAVY_LOAD_ON 45.0f //If mow motor Watt is over this value, it is assumed that the motor is under heavy load.~~
−	~~#define CONF_MOW_MOT_UNDER_HEAVY_LOAD_OFF 30.0f //If the mow moter is under heavy load, the measured watt must come under this value to reset heavy load.~~
−	~~#define CONF_MOW_MOT_UNDER_LOAD 30.0f //The mow motor is under load, if this Watt is measured.~~
−
−
−	~~The implementation of the spiral activation is in the file: bCruise.h Class: class TCruisePerimeterNear: public Node~~
−
−	~~The code for activation is as follows:~~
−	~~if(CONF_ACTVATE_AUTO_SPIRAL) {~~
−	~~(a) if(bb.mowMotorSensor.motorUnderHeavyLoad) {~~
−	~~if(millis()-bb.lastTimeSpiralStarted > 60000ul) {~~
−	~~bb.flagCruiseSpiral = true;~~
−	}
−	}
−	~~(b) if( (millis()-bb.lastTimeSpiralStarted > 180000ul) && bb.mowMotorSensor.checkIfUnderLoad() ) { // Alle 3 Minuten Spirale starten wenn motor belastet~~
−	~~bb.flagCruiseSpiral = true;~~
−	}
−	}
−
−	~~There are two independent conditions for activating a spiral travel (a) and (b).~~
−
−	(b) A spiral is activated when bb.mowMotorSensor.checkIfUnderLoad () returns true and no spiral has been taken for the last 3 minutes. The calculation in bb.mowMotorSensor.checkIfUnderLoad () is affected by following constant:
−	~~#define CONF_MOW_MOT_UNDER_LOAD 30.0f~~
−	~~If the mower needs more power than defined by CONF_MOW_MOT_UNDER_LOAD, the function bb.mowMotorSensor.checkIfUnderLoad () returns true otherwise false.~~
−	~~CONF_MOW_MOT_UNDER_LOAD also affects "slow down when mower engine is loaded" as described above.~~
−
−	(a) A spiral is activated when bb.mowMotorSensor.motorUnderHeavyLoad () returns true and no spiral has been taken for the last 60 seconds. The calculation in bb.mowMotorSensor.checkIfUnderLoad () is affected by the constants:
−	~~#define CONF_MOW_MOT_UNDER_HEAVY_LOAD_ON 45.0f~~
−	~~#define CONF_MOW_MOT_UNDER_HEAVY_LOAD_OFF 30.0f~~
−	To determine if the engine is under heavy load, a hysteresis is used. As soon as the mower engine wattage goes above CONF_MOW_MOT_UNDER_HEAVY_LOAD_ON, bb.mowMotorSensor.checkIfUnderHeavyLoad () returns true. But only when the wattage goes below CONF_MOW_MOT_UNDER_HEAVY_LOAD_OFF will false be returned.
−
−	~~The functions checkIfUnderHeavyLoad () and checkIfUnderLoad () are in the file: mowmotorSensor.h class: class TMowMotorSensor: public thread defined.~~
−
−	~~The implementation of the spiral itself is in the file: bCruise.h Class: class TCruiseSpiral: public Node~~
−
−	~~The following values influence the driving of the spiral:~~
−	~~#define CONF_DISTANCE_BETWEEN_WHEELS_CM 36.0f // Distance where the wheels hits the ground do not measure on top of the wheels!!!~~
−	~~#define CONF_MAX_SPIRAL_RADIUS_CM 150.0f~~
−	~~#define CONF_START_SPIRAL_RADIUS_CM 27.0f~~
−	~~#define CONF_SPIRAL_SEGMENTS 16.0f~~
−
−	Note: The BHT indicates that the spiral in class TCruiseMowMotHeavyLoad is started. This is not the case as the implementation is very simple. The class TCruiseMowMotHeavyLoad does not exist. The function was implemented in the class TCruisePerimeterNear.
−	~~<gallery>~~
−	~~File:RaindancerBHTSpiralfahrt.JPG \| Spiralaktivierung designed im BHT~~
−	~~</gallery>~~

	==Perimeter Tracking==		==Perimeter Tracking==

@@ Zeile 1.099: / Zeile 1.099: @@
 The distance of the area delineation cable to the opposite perimeter cable (here 30cm distance) can be optimized by tests. The distance depends on the functionality of the perimeter tracking. Firstly, the position of the left coil when tracking the overlying cable, as well as the tracking of the area delineation cable itself.
 Since the robot travels with the coils about 20 cm over the cable by default, it may be that it stops with the coils within the next range.
 Approaching an area from the charging station is done with the command:
@@ Zeile 1.115: / Zeile 1.110: @@
-Attention: It is important to remember exactly where the mower zone cables are located in case the grass is scarred..
+Attention: It is important to remember exactly where the mower zone cables are located in case the grass is scarred.
 == Laying the Perimeter Cable at Corners ==

← Nächstältere Version		Version vom 9. August 2020, 10:20 Uhr
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−	~~Attention! The software is still changing and can be changed / extended at any time.~~

	=Download=		=Download=

← Nächstältere Version		Version vom 9. August 2020, 10:20 Uhr
Zeile 87:		Zeile 87:
	If the robot is in MANUAL mode, it can be switched to automode using command A. If the robot then recognizes the perimeter signal, it starts mowing.		If the robot is in MANUAL mode, it can be switched to automode using command A. If the robot then recognizes the perimeter signal, it starts mowing.

−	~~==Open points==~~
−	* Stability of the software in the long term. Stand 28.04.2018 Currently, the current software version mowed 63h, has traveled 59km and has rotated 8426 times
−	* The line tracking algorithm has been recently optimized for the rear wheel drive chassis. Due to the short distance between coil and the wheels of the original Ardumower chassis, it may be necessary to program another algorithm.
−	* Optimization for the original Ardumower chassis (Mowing works very well with the workaround, if necessary, play with the parameters CONF_PER_CORRECTION_ANGLE and CONF_PERIMETER_DRIVE_BACK_CM)
−	* Use RTC to program start at a defined time
−
−	~~==Other wishes==~~
−	* The charging station is currently only counterclockwise approached.
−	* Amplify the signal of the charging station to + -20V voltage stroke
−	* SRF08 integration
−	* Integrate I2C temperature sensors
−	* An external start / stop button that starts or stops mowing
−	* Approach the charging station with GPS. Drive 15m before the charging station on the perimeter and then drive into the charging station..
−	* GPS Map - Note where mower has already mowed. Then mow in less mowed areas if necessary.
−	~~The GPS card will probably have to be outsourced to an external processor~~

	=For minimum commissioning, the following requirements should be met=		=For minimum commissioning, the following requirements should be met=

← Nächstältere Version		Version vom 9. August 2020, 10:18 Uhr
Zeile 1:		Zeile 1:
	Folks, English is not my native language. If you don't understand something or find a mistake, please inform me on the forum (name: Roland) or correct the mistake by yourself. Thank you very much.		Folks, English is not my native language. If you don't understand something or find a mistake, please inform me on the forum (name: Roland) or correct the mistake by yourself. Thank you very much.
		+
		+
		+	'''This documentation is for firmware version 2.x.x.
		+
		+
		+	'''The documentation of version 1.1.1 you can find here [[Raindancer Firmware V1.x.x (English) \| Raindancer Firmware V1.1.1]]