Into arduremote info menu
case STATE_STATION:
// waiting until auto-start by user or timer triggered
if (batMonitor) {
//if (chgVoltage > 5.0) {
if (chgVoltage > 25.0) {
if (batVoltage < startChargingIfBelow) { //read the battery voltage immediatly before it increase
setNextState(STATE_STATION_CHARGING, 0);
return;
}
else
{
if (millis() - stateStartTime > 10000) checkTimer(); //only check timer after 10 second to avoid restart before charging and check non stop after but real only 60 sec
}
}
else
{
ShowMessageln("We are in station but ChargeVoltage is lost ??? ");
setNextState(STATE_OFF, 0);
return;
}
}
else {
if (millis() - stateStartTime > 10000) checkTimer(); //only check timer after 10 second to avoid restart before charging
}
break;
//**************************************************************
//****************** SETTING FOR MOW800 ************************
//**************************************************************
#if defined (MOW800) // here all setting for YARDFORCE <-- :unsure:
//*****************possible list of motor driver set to :****************
// 1 for brushless ZS-X11H v1 Driver
// 2 for DC L298N Driver
// 3 for DC BTS7960 Driver
#define LEFT_MOTOR_DRIVER 1 //never mix BL and DC on drive motor
#define RIGHT_MOTOR_DRIVER 1
#define MOW_MOTOR_DRIVER 1
#define BUMPER_IS_SWITCH false // set to true if the bumper is a single ON/OFF switch
#define BUMPER_REAR_EXIST false // set to true to manage the rear bumper connected on CAN3 J20 connector
#define BUMPER_ARE_NORMALY_CLOSED true // set to true if the bumper contact is closed when nothing is hit
#define START_BUTTON_IS_NC true //if button is normaly closed
// mower can have a cover that stop the mowing cycle but power still on the PCB,mower only start after closing the cover
// start button is under cover , so after push the start button you have 10 seconde to close cover and mower start
// openning the cover stop mowing cycle
#define MOWER_HAVE_SECURITY_COVER false // mower can have a cover that stop the mowing cycle but power still on the PCB,mower only start after closing the cover
#define INA226_MOW2_PRESENT false
#define INA226_MOW3_PRESENT false
#define ODOMETRY_ONLY_RISING false
#endif#if defined (MOW800) // here all setting for MOW 800
//*****************possible list of motor driver set to :****************
// 1 for brushless ZS-X11H v1 Driver
// 2 for DC L298N Driver
// 3 for DC BTS7960 Driver
#define LEFT_MOTOR_DRIVER 1 //never mix BL and DC on drive motor
#define RIGHT_MOTOR_DRIVER 1
#define MOW_MOTOR_DRIVER 1
#define BUMPER_IS_SWITCH false // set to true if the bumper is a single ON/OFF switch
#define BUMPER_REAR_EXIST false // set to true to manage the rear bumper connected on CAN3 J20 connector
#define BUMPER_ARE_NORMALY_CLOSED true // set to true if the bumper contact is closed when nothing is hit
#define START_BUTTON_IS_NC false //if button is normaly closed
// mower can have a cover that stop the mowing cycle but power still on the PCB,mower only start after closing the cover
// start button is under cover , so after push the start button you have 10 seconde to close cover and mower start
// openning the cover stop mowing cycle
#define MOWER_HAVE_SECURITY_COVER false // mower can have a cover that stop the mowing cycle but power still on the PCB,mower only start after closing the cover
#define INA226_MOW2_PRESENT false
#define INA226_MOW3_PRESENT false
#define ODOMETRY_ONLY_RISING false
#endif#if defined (MOW800)
name = "MOW800"; //Set the Name of platform
// ------- wheel motors -----------------------------
motorRightSwapDir = true; // inverse right motor direction?
motorLeftSwapDir = false; // inverse left motor direction?
#endifIt's not normal.
motorSpeedMaxRpm = 34; // motor wheel max RPM (WARNING: do not set too high, so there's still speed control when battery is low!)
motorSpeedMaxPwm = 97; // motor wheel max Pwm (8-bit PWM=255, 10-bit PWM=1023)
motorRollDegMax = 149; // max. roll Deg
motorRollDegMin = 20; //min. roll Deg
SpeedOdoMin = 2;
SpeedOdoMax = 100;
motorTickPerSecond = 1200; // use to compute the maxodostate duration and computed on the calibration motor
useMotorDriveBrake = true; //for ZS-X11H BL motor driver it's possible to use the brake option for slope management
motorMowSpeedMaxPwm = 115; // motor mower max PWM
motorMowSpeedMinPwm = 100; // motor mower minimum PWM (only for cutter modulation)
motorMowPowerMax = 65.0; // motor mower max power (Watt)
highGrassSpeedCoeff = 0.7; //drive speed coeff when detect high grass in by lane mode
perimeterTriggerMinSmag = 800;
MaxSpeedperiPwm = 85; // speed max in PWM while perimeter tracking
perimeterMagMaxValue = 5000; // Maximum value return when near the perimeter wire (use for tracking and slowing when near wire
odometryTicksPerRevolution = 2070; // encoder ticks per one full resolution
odometryTicksPerCm = 29.6; // encoder ticks per cm
odometryWheelBaseCm = 43; // wheel-to-wheel distance (cm)