Setting mowing states and mower patterns

[casper]

Hi all!

After 2 months of hard working, I finally build up the ardumower, and tested it.
Every system works.
I did use a RC mode, and tested it as well.
I put in a FlySky 6 channel receiver, and for now, I'm able to use 3 channels for mowing,(steering, speed, mow,)
and one for user switch. (I will post video for RC test soon)

Now I have a few questions, since I hardly understand a code.

1. When I start mower it drive very short time, no matter, how much do I increase a time for motors via pfodApp.
How to set the longer path for forward and other states?
I using belt 2/1 reduced original Tinachen gear motor for high slope and slower speed (20rpm/min).
( https://drive.google.com/folderview...BvWExqemstVkZNNnZFUU1tWUJkTmRmOUU&usp=sharing )
so I have to set at least double path for mowing.

2. If I mow high grass, consumption of power raise to much (I have two mower motors in parallel) and Got error state.
How Can I increase the power or adjust the sensing for current? Or how can I enable reserved output on mow motor driver?

3. How Can be random state set to specific patterns, or added spiral pattern. I miss this, because is very effective.


Thanks for any answer or hints!

 

[jack0]

Hello
1. You can change the timing in the file "mower.cpp", section "wheel motors", comments there are clear.
2. In the same file, section "mower motor", there is a variable named "MotorMowPowerMax". As I understand you have 2 motors in //, so I guess you should almost be able to double the value. But be carefull, do it by step as I not sure the driver (MC33926 ?) will accept it. If it becomes to hot, adding radiators can help.
3. For what I 've seen, spiral pattern is not (yet ) part of the code, but it's open

Greets