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Ardumower / ardumower

Develop an open source robotic lawn mower (HW+SW reference platform)
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Advanced perimeter tracking #114

Closed Holoratte closed 7 years ago

Holoratte commented 7 years ago

As discussed in the forum...

greymfm commented 7 years ago

Thanks for the pull-request.

Unfortunately, it is not working as expected (not working smooth - and we are a little bit in a hurry writing manuals for PCB 1.3 etc. and cannot really test for several days).

The code is merged in ... https://github.com/Ardumower/ardumower/tree/782d9971b192f7724db38e555e6524ddfec4503d

... and we made a video of the tracking here (actually it's an original Ardumower chassis with some additional parts on top): https://www.youtube.com/watch?v=9OusAOOsQOk&feature=youtu.be

We also tried "MaxSpeedperiPwm = 160", however the result is more worse than the original tracking code and not like in the videos in the forum.

Do you think you could try out the merged code and help us to get it working?

Thanks, Alexander

Holoratte commented 7 years ago

Hallo Alexander,

I just tried the merge from the link you provided. Peri_find seems to have trouble. After two rounds as in the video, tracking seems to be fine on SheepSheep (also original Ardumower hardware, PCB0.5, Arduino Mega) with little reduced perimeter PID.p = 25, I and D from factory settings. So there is hope. I will try to test more during weekend.

Best Chris

Holoratte commented 7 years ago

see https://github.com/Ardumower/ardumower/pull/120/files for changes working on SheepSheep

Chris