Merge branch 'release/1.0a2-Azurit'

Author: autega

ardumower/mower.cpp

@@ -154,7 +154,7 @@ Mower::Mower(){
   // ------ mower motor -------------------------------
   motorMowAccel       = 0.1;  // motor mower acceleration (warning: do not set too high)
   motorMowSpeedMaxPwm   = 255;    // motor mower max PWM
-  motorMowPowerMax = 50.0;     // motor mower max power (Watt)
+  motorMowPowerMax = 75.0;     // motor mower max power (Watt)
   motorMowModulate  = 0;      // motor mower cutter modulation?
   motorMowRPMSet        = 3300;   // motor mower RPM (only for cutter modulation)
   motorMowSenseScale = 15.3; // motor mower sense scale (mA=(ADC-zero)/scale)

ardumower/perimeter.cpp

@@ -50,7 +50,7 @@
 
 
 Perimeter::Perimeter(){    
-  useDifferentialPerimeterSignal = false;
+  useDifferentialPerimeterSignal = true;
   swapCoilPolarity = false;
   timedOutIfBelowSmag = 300;
   timeOutSecIfNotInside = 8;
@@ -248,4 +248,4 @@ int16_t Perimeter::corrFilter(int8_t *H, int8_t subsample, int16_t M, int8_t *ip
 
 
 
-
+

ardumower/robot.cpp

@@ -1398,8 +1398,11 @@ void Robot::readSensors(){
       }
     }
     if (perimeter.signalTimedOut(0))  {      
-      if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) && (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_REMOTE)) {
-        Console.println(F("Error: perimeter too far away"));
+      if ( (stateCurr != STATE_OFF) && (stateCurr != STATE_MANUAL) && (stateCurr != STATE_STATION) 
+      	&& (stateCurr != STATE_STATION_CHARGING) && (stateCurr != STATE_STATION_CHECK) 
+      	&& (stateCurr != STATE_STATION_REV) && (stateCurr != STATE_STATION_ROLL) 
+      	&& (stateCurr != STATE_STATION_FORW) && (stateCurr != STATE_REMOTE)) {
+        Console.println("Error: perimeter too far away");
         addErrorCounter(ERR_PERIMETER_TIMEOUT);
         setNextState(STATE_ERROR,0);
       }
@@ -1584,18 +1587,18 @@ void Robot::setNextState(byte stateNew, byte dir){
   rollDir = dir;
   if (stateNew == STATE_STATION_REV){
     motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm;                    
-    stateEndTime = millis() + stationRevTime;                     
+    stateEndTime = millis() + stationRevTime + motorZeroSettleTime;                     
   } else if (stateNew == STATE_STATION_ROLL){
     motorLeftSpeedRpmSet = motorSpeedMaxRpm;
     motorRightSpeedRpmSet = -motorLeftSpeedRpmSet;						      
-    stateEndTime = millis() + stationRollTime;                     
+    stateEndTime = millis() + stationRollTime + motorZeroSettleTime;                     
   } else if (stateNew == STATE_STATION_FORW){
     motorLeftSpeedRpmSet = motorRightSpeedRpmSet = motorSpeedMaxRpm;      
     motorMowEnable = true;    
-    stateEndTime = millis() + stationForwTime;                     
+    stateEndTime = millis() + stationForwTime + motorZeroSettleTime;                     
   } else if (stateNew == STATE_STATION_CHECK){
     motorLeftSpeedRpmSet = motorRightSpeedRpmSet = -motorSpeedMaxRpm/2; 
-    stateEndTime = millis() + stationCheckTime; 
+    stateEndTime = millis() + stationCheckTime + motorZeroSettleTime; 
 
   } else if (stateNew == STATE_PERI_ROLL) {    
     stateEndTime = millis() + perimeterTrackRollTime;