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Die Seite wurde neu angelegt: „ =Troubleshooting= ==Error codes== If your robot beeps periodically, it is in ERROR state. Either run the serial console or 'pfodApp->Error Counters' to find…“

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=Troubleshooting=

==Error codes==
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 [http://wiki.ardumower.de/index.php?title=Ardumower_PCB#Settings Settings].

ERR_MOTOR_LEFT Left gear motor error
* Check gear motor driver module and left gear motor
* 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
* 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
* 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 [http://wiki.ardumower.de/index.php?title=IMU#Calibration_.28latest_version.29 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 [http://wiki.ardumower.de/index.php?title=Perimeter_wire#Receiver_diagnostics.2Ftroubleshooting 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)

==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)

=Console output=

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

=How to report a new bug/new feature/new code=
Click on [https://github.com/Ardumower/ardumower/issues/new?title=Error+XYZ+%2F+Fehler+XYZ&body=Please+always+fill-in+below%2FBitte+unbedingt+ausf%C3%BCllen%21%0D%0A%0D%0A--English--%0D%0AYour+battery+voltage+%2812v%2C+24v%29%3A+24v%0D%0AYour+gear+motor+%28Ardumower%2C+other%29%3A+Ardumower+motor%0D%0AYour+Ardumower+software+version+%28pfodApp-%3EInfo%29%3A+890%0D%0AYour+Arduino+%28Mega+or+Due%29%3A+Mega+2560%0D%0AYour+PCB+version+%28printed+on+PCB%29%3A+0.5%0D%0AYour+PCB+mounted+parts+configuration+%28default+or+custom+and+how%29%3A+default%0D%0AOdometry+sensor+%28yes%2Fno%29%3F+yes%0D%0AArdumower+chassis+%28yes%2Fno%29%3F+yes%0D%0AExact+error+description%3A+...+%0D%0A%0D%0A--Deutsch--%0D%0ADeine+Akku-Spannung+%2812v%2C+24v%29%3A+24v%0D%0ADein+Antriebsmotor+%28Ardumower%2C+anderer%29%3A+Ardumower+Motor%0D%0ADeine+Ardumower-Software+Version%3A+%28pfodApp-%3EInfo%29%3A+890%0D%0ADeine+PCB-Version+%28siehe+Aufdruck%29%3A+0.5%0D%0ADein+Arduino+%28Mega+oder+Due%29%3A+Mega+2560%0D%0ADeine+PCB+Bauteilbest%C3%BCckung+%28Standard+oder+abweichend+und+wie%29%3A+Standard%0D%0AOdometrie+sensor+%28ja%2Fnein%29%3F+ja%0D%0AArdumower+Chassis+%28ja%2Fnein%29%3F+ja%0D%0AGenaue+Fehlerbeschreibung%3A+...%0D%0A '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...

=Further links=
#[[Ardumower PCB|Diagnostic]]

Troubleshooting ru - Versionsgeschichte

Unlogic: Die Seite wurde neu angelegt: „ =Troubleshooting= ==Error codes== If your robot beeps periodically, it is in ERROR state. Either run the serial console or 'pfodApp->Error Counters' to find…“