www.wiki.ardumower.de - Benutzerbeiträge [de]

Benutzer:BerndS

2025-02-12T10:32:40Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How to use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

Pin out JST:

pin1 GND

pin2 +5V

pin3 Signal out (yellow line in picture)

pin4 Signal in (pink line in picture, Ultra Sonic burst)

[[Datei:OsziUS260.JPG|400px|timing diagram]]

Arduino Code:

_______________________________________________________________
#define threshold 20
#define Sonic_out 03 //10
#define Sign_in 02 //25
#define trigger 04
#define Bumper 05
#define nBumper 06

int i;
unsigned long time_cnt_start;
unsigned long time_cnt;
float average_t;
float distance;
bool int_flag=1;
bool valid = 0;

void setup() {
Serial.begin(115200);
pinMode(Sonic_out, OUTPUT);
digitalWrite(Sonic_out,0);
digitalWrite(trigger,0);
pinMode(Sign_in, INPUT);
pinMode(Bumper, OUTPUT);
pinMode(nBumper, OUTPUT);
Serial.println("Ultra Sonic Start");
}

void loop() {
detachInterrupt(digitalPinToInterrupt(Sign_in));

for (i=0;i<10;i++){
digitalWrite(Sonic_out,1);
delayMicroseconds(4);
digitalWrite(Sonic_out,0);
delayMicroseconds(9);
}

digitalWrite(Sonic_out,0);
while(digitalRead(!Sign_in)) { }
delayMicroseconds(1300);
attachInterrupt(digitalPinToInterrupt(Sign_in),start_cnt,RISING);
delay(25);

if (!valid)stop_cnt();
average_t=average_t*0.95+time_cnt*0.05;
distance=average_t*33000/1000000;
// Serial.print(" Laufzeit: ");
// Serial.print(average_t);
Serial.print(" Distanz: ");
Serial.print(distance); // +/- 20%
Serial.println();

if( distance<=threshold){
digitalWrite(Bumper,1);
digitalWrite(nBumper,0);
}else{
digitalWrite(Bumper,0);
digitalWrite(nBumper,1);
}
}

void start_cnt(){ // start time counting with rising trigger
valid = 0;
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt_start = micros();
//Serial.print("start ");
digitalWrite(trigger,1);
attachInterrupt(digitalPinToInterrupt(Sign_in),stop_cnt,FALLING);
}

void stop_cnt(){ // stop time counting with first falling trigger
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt = micros()-time_cnt_start;
//Serial.print("stop ");
valid = 1;
digitalWrite(trigger,0);
}

_____________________________________________________________________________

Husqvarna 260 ACX Ultra Sonic Board

[[Datei:US260 01.JPG]]

Benutzer:BerndS

2025-02-12T10:32:03Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How to use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

Pin out JST
pin1 GND
pin2 +5V
pin3 Signal out (yellow line in picture)
pin4 Signal in (pink line in picture, Ultra Sonic burst)

[[Datei:OsziUS260.JPG|400px|timing diagram]]

Arduino Code:

_______________________________________________________________
#define threshold 20
#define Sonic_out 03 //10
#define Sign_in 02 //25
#define trigger 04
#define Bumper 05
#define nBumper 06

int i;
unsigned long time_cnt_start;
unsigned long time_cnt;
float average_t;
float distance;
bool int_flag=1;
bool valid = 0;

void setup() {
Serial.begin(115200);
pinMode(Sonic_out, OUTPUT);
digitalWrite(Sonic_out,0);
digitalWrite(trigger,0);
pinMode(Sign_in, INPUT);
pinMode(Bumper, OUTPUT);
pinMode(nBumper, OUTPUT);
Serial.println("Ultra Sonic Start");
}

void loop() {
detachInterrupt(digitalPinToInterrupt(Sign_in));

for (i=0;i<10;i++){
digitalWrite(Sonic_out,1);
delayMicroseconds(4);
digitalWrite(Sonic_out,0);
delayMicroseconds(9);
}

digitalWrite(Sonic_out,0);
while(digitalRead(!Sign_in)) { }
delayMicroseconds(1300);
attachInterrupt(digitalPinToInterrupt(Sign_in),start_cnt,RISING);
delay(25);

if (!valid)stop_cnt();
average_t=average_t*0.95+time_cnt*0.05;
distance=average_t*33000/1000000;
// Serial.print(" Laufzeit: ");
// Serial.print(average_t);
Serial.print(" Distanz: ");
Serial.print(distance); // +/- 20%
Serial.println();

if( distance<=threshold){
digitalWrite(Bumper,1);
digitalWrite(nBumper,0);
}else{
digitalWrite(Bumper,0);
digitalWrite(nBumper,1);
}
}

void start_cnt(){ // start time counting with rising trigger
valid = 0;
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt_start = micros();
//Serial.print("start ");
digitalWrite(trigger,1);
attachInterrupt(digitalPinToInterrupt(Sign_in),stop_cnt,FALLING);
}

void stop_cnt(){ // stop time counting with first falling trigger
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt = micros()-time_cnt_start;
//Serial.print("stop ");
valid = 1;
digitalWrite(trigger,0);
}

_____________________________________________________________________________

Husqvarna 260 ACX Ultra Sonic Board

[[Datei:US260 01.JPG]]

Benutzer:BerndS

2025-02-12T10:28:58Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How to use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

Pin out JST
pin1 GND
pin2 +5V
pin3 Signal out (yellow line in picture)
pin4 Signal in (pink line in picture, Ultra Sonic burst)

[[Datei:OsziUS260.JPG]]

Arduino Code:

_______________________________________________________________
#define threshold 20
#define Sonic_out 03 //10
#define Sign_in 02 //25
#define trigger 04
#define Bumper 05
#define nBumper 06

int i;
unsigned long time_cnt_start;
unsigned long time_cnt;
float average_t;
float distance;
bool int_flag=1;
bool valid = 0;

void setup() {
Serial.begin(115200);
pinMode(Sonic_out, OUTPUT);
digitalWrite(Sonic_out,0);
digitalWrite(trigger,0);
pinMode(Sign_in, INPUT);
pinMode(Bumper, OUTPUT);
pinMode(nBumper, OUTPUT);
Serial.println("Ultra Sonic Start");
}

void loop() {
detachInterrupt(digitalPinToInterrupt(Sign_in));

for (i=0;i<10;i++){
digitalWrite(Sonic_out,1);
delayMicroseconds(4);
digitalWrite(Sonic_out,0);
delayMicroseconds(9);
}

digitalWrite(Sonic_out,0);
while(digitalRead(!Sign_in)) { }
delayMicroseconds(1300);
attachInterrupt(digitalPinToInterrupt(Sign_in),start_cnt,RISING);
delay(25);

if (!valid)stop_cnt();
average_t=average_t*0.95+time_cnt*0.05;
distance=average_t*33000/1000000;
// Serial.print(" Laufzeit: ");
// Serial.print(average_t);
Serial.print(" Distanz: ");
Serial.print(distance); // +/- 20%
Serial.println();

if( distance<=threshold){
digitalWrite(Bumper,1);
digitalWrite(nBumper,0);
}else{
digitalWrite(Bumper,0);
digitalWrite(nBumper,1);
}
}

void start_cnt(){ // start time counting with rising trigger
valid = 0;
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt_start = micros();
//Serial.print("start ");
digitalWrite(trigger,1);
attachInterrupt(digitalPinToInterrupt(Sign_in),stop_cnt,FALLING);
}

void stop_cnt(){ // stop time counting with first falling trigger
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt = micros()-time_cnt_start;
//Serial.print("stop ");
valid = 1;
digitalWrite(trigger,0);
}

_____________________________________________________________________________

Husqvarna 260 ACX Ultra Sonic Board

[[Datei:US260 01.JPG]]

Datei:OsziUS260.JPG

2025-02-12T10:23:58Z

BerndS:

Benutzer:BerndS

2025-02-12T10:21:42Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How to use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

Arduino Code:

_______________________________________________________________
#define threshold 20
#define Sonic_out 03 //10
#define Sign_in 02 //25
#define trigger 04
#define Bumper 05
#define nBumper 06

int i;
unsigned long time_cnt_start;
unsigned long time_cnt;
float average_t;
float distance;
bool int_flag=1;
bool valid = 0;

void setup() {
Serial.begin(115200);
pinMode(Sonic_out, OUTPUT);
digitalWrite(Sonic_out,0);
digitalWrite(trigger,0);
pinMode(Sign_in, INPUT);
pinMode(Bumper, OUTPUT);
pinMode(nBumper, OUTPUT);
Serial.println("Ultra Sonic Start");
}

void loop() {
detachInterrupt(digitalPinToInterrupt(Sign_in));

for (i=0;i<10;i++){
digitalWrite(Sonic_out,1);
delayMicroseconds(4);
digitalWrite(Sonic_out,0);
delayMicroseconds(9);
}

digitalWrite(Sonic_out,0);
while(digitalRead(!Sign_in)) { }
delayMicroseconds(1300);
attachInterrupt(digitalPinToInterrupt(Sign_in),start_cnt,RISING);
delay(25);

if (!valid)stop_cnt();
average_t=average_t*0.95+time_cnt*0.05;
distance=average_t*33000/1000000;
// Serial.print(" Laufzeit: ");
// Serial.print(average_t);
Serial.print(" Distanz: ");
Serial.print(distance); // +/- 20%
Serial.println();

if( distance<=threshold){
digitalWrite(Bumper,1);
digitalWrite(nBumper,0);
}else{
digitalWrite(Bumper,0);
digitalWrite(nBumper,1);
}
}

void start_cnt(){ // start time counting with rising trigger
valid = 0;
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt_start = micros();
//Serial.print("start ");
digitalWrite(trigger,1);
attachInterrupt(digitalPinToInterrupt(Sign_in),stop_cnt,FALLING);
}

void stop_cnt(){ // stop time counting with first falling trigger
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt = micros()-time_cnt_start;
//Serial.print("stop ");
valid = 1;
digitalWrite(trigger,0);
}

_____________________________________________________________________________

Husqvarna 260 ACX Ultra Sonic Board

[[Datei:US260 01.JPG]]

Benutzer:BerndS

2025-02-12T10:21:02Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How to use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

Arduino Code:
_______________________________________________________________
#define threshold 20
#define Sonic_out 03 //10
#define Sign_in 02 //25
#define trigger 04
#define Bumper 05
#define nBumper 06

int i;
unsigned long time_cnt_start;
unsigned long time_cnt;
float average_t;
float distance;
bool int_flag=1;
bool valid = 0;

void setup() {
Serial.begin(115200);
pinMode(Sonic_out, OUTPUT);
digitalWrite(Sonic_out,0);
digitalWrite(trigger,0);
pinMode(Sign_in, INPUT);
pinMode(Bumper, OUTPUT);
pinMode(nBumper, OUTPUT);
Serial.println("Ultra Sonic Start");
}

void loop() {
detachInterrupt(digitalPinToInterrupt(Sign_in));

for (i=0;i<10;i++){
digitalWrite(Sonic_out,1);
delayMicroseconds(4);
digitalWrite(Sonic_out,0);
delayMicroseconds(9);
}

digitalWrite(Sonic_out,0);
while(digitalRead(!Sign_in)) { }
delayMicroseconds(1300);
attachInterrupt(digitalPinToInterrupt(Sign_in),start_cnt,RISING);
delay(25);

if (!valid)stop_cnt();
average_t=average_t*0.95+time_cnt*0.05;
distance=average_t*33000/1000000;
// Serial.print(" Laufzeit: ");
// Serial.print(average_t);
Serial.print(" Distanz: ");
Serial.print(distance); // +/- 20%
Serial.println();

if( distance<=threshold){
digitalWrite(Bumper,1);
digitalWrite(nBumper,0);
}else{
digitalWrite(Bumper,0);
digitalWrite(nBumper,1);
}
}

void start_cnt(){ // start time counting with rising trigger
valid = 0;
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt_start = micros();
//Serial.print("start ");
digitalWrite(trigger,1);
attachInterrupt(digitalPinToInterrupt(Sign_in),stop_cnt,FALLING);
}

void stop_cnt(){ // stop time counting with first falling trigger
detachInterrupt(digitalPinToInterrupt(Sign_in));
time_cnt = micros()-time_cnt_start;
//Serial.print("stop ");
valid = 1;
digitalWrite(trigger,0);
}

_____________________________________________________________________________

Husqvarna 260 ACX Ultra Sonic Board

[[Datei:US260 01.JPG]]

Benutzer:BerndS

2025-02-12T10:18:49Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How tu use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

[[Datei:US260 01.JPG]]

Benutzer:BerndS

2025-02-12T10:18:36Z

BerndS:

Husqvarna 260 ACX Ultra Sonic

How tu use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.
[[Datei:US260 01.JPG]]

Datei:US260 01.JPG

2025-02-12T10:17:38Z

BerndS:

Benutzer:BerndS

2025-02-12T10:15:03Z

BerndS: Die Seite wurde neu angelegt: „Husqvarna 260 ACX Ultra Sonic How tu use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.“

Husqvarna 260 ACX Ultra Sonic

How tu use the Husqvarna 260 ACX Ultra Sonicboard as a bumper.

FOC Driver

2023-02-20T11:48:11Z

BerndS:

Here you will find informations about the new BLDC Ardumower FOC Driver.

The wiki is under construction.....

'''Overview'''

owlDrive is a Field Oriented Control (FOC) driver for nearly all kind of DC
brushless motors. It offers various features to configure different motor types and
the integrated controller can talk different protocols on different hardware. The
easy configuration interface via USB serial terminal provides a simple but
effective configuration menu to the user, without specific software apps or tools.
For the ArduMower project, we provide a special version for the ArduMower, the ArduMower FOC Driver.
This is a owlDrive - hardware with a specific easy-configuration menu, specially for the available ArduMower motors.
It can be upgraded to a owlDrive full featured at any time.

Attribution

owlDrive is inspired by the open-source project ‘SimpleFOC’ (www.
simplefoc.com). We use, under open-source licensing, parts of the SimpleFOC
libraries and implemented several, additional features.

FOC Driver

2023-02-20T11:47:54Z

BerndS:

Here you will find informations about the new BLDC Ardumower FOC Driver.

The wiki is under construction.....

'''Overview'''
owlDrive is a Field Oriented Control (FOC) driver for nearly all kind of DC
brushless motors. It offers various features to configure different motor types and
the integrated controller can talk different protocols on different hardware. The
easy configuration interface via USB serial terminal provides a simple but
effective configuration menu to the user, without specific software apps or tools.
For the ArduMower project, we provide a special version for the ArduMower, the ArduMower FOC Driver.
This is a owlDrive - hardware with a specific easy-configuration menu, specially for the available ArduMower motors.
It can be upgraded to a owlDrive full featured at any time.

Attribution
owlDrive is inspired by the open-source project ‘SimpleFOC’ (www.
simplefoc.com). We use, under open-source licensing, parts of the SimpleFOC
libraries and implemented several, additional features.

FOC Driver

2023-02-20T11:38:35Z

BerndS: Die Seite wurde neu angelegt: „Here you will find informations about the new BLDC Ardumower FOC Driver. The wiki is under construction.....“

Here you will find informations about the new BLDC Ardumower FOC Driver.

The wiki is under construction.....

Datei:BL Adp Sch.jpg

2022-10-13T15:51:57Z

BerndS:

Brushless Adapter

2022-10-13T15:50:55Z

BerndS:

== ArduMower Brushless Adapter ==

[[Datei:Brushless Adapter.png|400px| Brushless Adapter]]

The ArduMower Brushless Adapter (BLA) is to connect the Brushless Driver with the PCB1.x.
The BLA has already the Version 1.1. It fixes a motor start if you pull the flat cable.
Therefore, you must pay attention what combination of BLA and BL Motor Driver you have.
You can find the Versin Nr in the lower left hand corner.

'''ArduMower Brushless Adapter V1.0 (Stand10.01.2021) with BL Motordriver 1.0 (Stand 20.04.21)'''

This runs without any change. '''BUT''' please take care that the flat cable is connected when you power on the mover!
It is recommended to fix the flat cable connector proper in the socket with a little spot of glue / hot glue!
Reffer also to the Bug Fix at the end of this page, this fix is needed.

'''ArduMower Brushless Adapter V1.0 (Stand10.01.2021) with BL Motordriver 1.1 (Stand 20.04.21)'''

For this combination you must solder 2 resistors ( 680 Ohm - 1k Ohm) to each flat cable connector.
The resistors on Pin 2 (Enable) and Pin 7 (PWM Signal) are pull ups to +5V.

[[Datei:BLADV10 chg.jpeg|400px| Brushless Adapter]]

'''ArduMower Brushless Adapter V1.1 with BL Motordriver 1.0 and BL Motordriver 1.1'''

This runs without any change. Also the Bug Fix (220nF Odometry Entry) is not needed. If you have the 220nF on the PCB, please remove. You can mix. V1.0 and V1.1 BL-Driver. Take cate about the " '''BUT''' please take care... " remark for Adapter V1.0 with BL Motordriver 1.0. This is still valid for all V1.0 BL Driver (not BL Driver V1.1) connected to the V1.1 Adapter.

== '''Bug fix''' ==
if you use ArduMower Brushless Adapter V1.0 (Stand10.01.2021):
The odometry divider on PCB 1.x caused a problem with the BL odometry signal.
The ArduMower will drive not synchronized, one wheel is slower.
You can fix it with a 220nF an each ot the odometry inputs.
Take care that you use the latest version of sunray SW.

'''Not needed for Brushless Adapter V1.1 or higher.'''
[[Datei:Odofix.png|600px|thumb|220nF at each odometry input]]

'''At the motor connectors solder BOTH pins, not only one, because of high curent. '''
[[Datei:BL_Adp_Sch.jpg]]

see also

Brushless Drive [https://wiki.ardumower.de/index.php?title=Brushless_Drive]

DIY ArduMower Brushless Driver Kit [https://wiki.ardumower.de/index.php?title=DIY_Brushless_Driver_Board#DIY_ArduMower_Brushless_Driver_Kit]

Blade-Motor Protection [https://wiki.ardumower.de/index.php?title=Blade_Motor_Protection]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:45:00Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and on the motor.
If you don’t know the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

For additional information go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:44:22Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:
This parameter depends on the gearbox you are using and on the motor.
If you don’t know the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

For additional information go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:38:47Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

For additional informations go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:38:29Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

For additional informations go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:37:42Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

For additional informations go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:37:12Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.
For additional informations go to the Sunray wiki[https://wiki.ardumower.de/index.php?title=Ardumower_Sunray], section "Odometry test"

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

Datei:Code change.jpg

2022-10-03T19:28:57Z

BerndS: BerndS lud eine neue Version von Datei:Code change.jpg hoch

Datei:Code change.jpg

2022-10-03T19:25:18Z

BerndS:

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:23:37Z

BerndS:

== ACT -Brushless Adapter Hardware ==

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

== '''Sunray code changes:''' ==

TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

Uncomment this parameter for brushless, too:

[[Datei:code_change.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-10-03T19:16:08Z

BerndS:

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:ACT_BLA01.jpg]]

[[Datei:ACT_BLA2.jpg]]

[[Datei:ACT BLA3.jpg]]

Sunray code changes:
TICKS_PER_REVOLUTION:

This parameter depends on the gearbox you are using and om the motor.
If you don’t now the number of ticks per resolution, you should start with
a value of ~750 and check it with AT+E tool of the sunray software / console function.

#define TICKS_PER_REVOLUTION 750 // odometry ticks per wheel revolution

ACT -Brushless Adapter (ACT -BLA)

2022-09-30T20:02:24Z

BerndS:

Datei:ACTKit.jpg

2022-09-30T19:59:59Z

BerndS: BerndS lud eine neue Version von Datei:ACTKit.jpg hoch

Datei:ACTBLA4.jpg

2022-09-30T19:59:12Z

BerndS: BerndS lud eine neue Version von Datei:ACTBLA4.jpg hoch

Datei:ACT BLA3.jpg

2022-09-30T19:55:30Z

BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

Datei:ACT BLA2.jpg

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

Datei:ACT BLA01.jpg

2022-09-30T19:50:01Z

BerndS: BerndS lud eine neue Version von Datei:ACT BLA01.jpg hoch

ACT -Brushless Adapter (ACT -BLA)

2022-09-30T19:44:06Z

BerndS:

ACT -Brushless Adapter (ACT -BLA)

2022-09-30T19:43:42Z

BerndS:

The ArduMower ACT -Brushless Adapter (ACT -BLA) is a special connection adapter, to connect the ACT-Brushless DC motor Driver '''BLDC-8015A'''[https://www.marotronics.de/ACT-BLDC-8015A-0-Brushless-Motortreiber] with the PCB1.x.

[[Datei:ACTKit.jpg | 200p | ACT-BLA Kit ]]

ArduMower ACT-Brushless Adapter V1.0 (Stand30.09.2020) with BLDC-8015A connectors (blue PCBs).

The main different to the standard ArduMower Brushless Adapter, the ACT Version does not get the 24V motor power over the PCB 1.x.
The power will be connected directly to the ACT -BLA (left clamp with red cable).

'''Important,''' connect the power over a fuse to the ACT -BLA, because there is no protection against over current.
It is recommended that the voltage is not over 32V max. otherwise a damage can occur.

[[Datei:ACTBLA4.jpg | 200p ]]

[[Datei:https://wiki.ardumower.de/images/thumb/d/d6/ACT_BLA01.jpg/800px-ACT_BLA01.jpg]]

ACT -Brushless Adapter (ACT -BLA)

2022-09-30T19:43:06Z

BerndS:

ACT -Brushless Adapter (ACT -BLA)

2022-09-30T19:41:42Z

BerndS:

Datei:ACT BLA01.jpg

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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ACT -Brushless Adapter (ACT -BLA)

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BerndS:

Datei:ACTBLA4.jpg

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS:

ACT -Brushless Adapter (ACT -BLA)

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BerndS: