Version vom 15. Februar 2015, 17:16 Uhr

Troubleshooting

Disabled 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?

...

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

Further links

1. Diagnostic