01. Settings

Settings

description of each setting located in the sram.c. The settings is updatable using debug interface or change in sram.c

Setting	Default	Unit	Description	version
Go_Home_Direction	0	0=left, 1=right	Direction of perimeter tracking (right direction ToDo)	1.0.0
Battery_Low_Limit	22.00	volt	Battery low limit, triggering go home to charge	1.0.0
Battery_High_Limit	25.00	volt	Battery high limit, triggering undock or charger disconnect	1.0.0
Boundary_Timeout	6	sec	Timeout when NO messages are received -> HALT	1.0.0
Cutter_Limit	2.0	amp	Max limit for cutter motor (HW limitation 2.1 amp) -> HALT	1.0.0
HoldChargeDetection	350	ms	How many milliseconds to wait before stop when charger is detected	1.0.0
MotorSpeedUpdateFreq	100	ms	Interval in milliseconds to update speed to maintain straight line	1.0.0
Outside_Threshold	8	sec	Timeout till the mower shots down if outside boarder	1.0.0
Motor_Limit	4.0	multiply	Filter for motor current detection, this is in multiply	1.0.0
Overturn_Limit	35	degrees	Degrees of tilt before HALT	1.0.0
Signal_Integrity_IN	0.80	percent	How many percent to consider a valid INSIDE message	1.0.0
Signal_Integrity_OUT	-0.80	percent	How many percent to consider a valid OUTSIDE message	1.0.0
WorkingHourStart	10	0 - 24	Working Hour START	1.0.0
WorkingHourEnd	22	0 - 24	Working Hour END	1.0.0
kp	0.12		PID controller KP for perimeter tracking	1.0.0
ki	0.0		PID controller KI for perimeter tracking	1.0.0
kd	0.03		PID controller KD for perimeter tracking	1.0.0
Motor_Max_Limit	0.3	amp	Motor current MAX value (HW limitation 2.1 Amp)	1.0.0
Motor_Min_Limit	0.1	amp	Motor current MIN value (init value for dynamic current sense)	1.0.0
magValue	400		Magnitude value to enter proximity area	1.0.0
magMinValue	370		Magnitude Min value to leave proximity area	1.0.2
voltageMultiply	5.0		Necessary HW-hack needed to support higher voltage than 25.2 volt	1.0.2
proximitySpeed	0.80	0.0 - 1.0	Speed in proximity area MotorMaxSpeed * proximitySpeed	1.0.2
movement	0.5	0.0 - 1.0	Movement detection limit when standing still	1.0.2
motorMaxSpeed	3359	0 - 3359	Max speed of wheel motors	1.0.2
motorMinSpeed	2000	0 - 3359	Min speed of wheel motors	1.0.0
cutterSpeed	3000	0 - 3359	Speed of cutter motor	1.0.0
adcLevel	1267		Razorboard HW version 1.2 or higher use 2050	1.0.2
move_count_limit	5	counts	Limit of movement counts between 2 border detections before HALT	1.0.3
bumber_count_limit	10	counts	Limit of bumber counts between 2 border detections before HALT	1.0.3
undock_backing_seconds	3	sec	Time to back when undock from charge station	1.0.4
pitch_comp	0.0		Compensate if the MPU not is perfectly flat mounted	1.0.4
roll_comp	0.0		Compensate if the MPU not is perfectly flat mounted	1.0.4
roll_tilt_comp	50		Compensate wheel power ratio when turning based on roll
steering_correction	120		Compensate wheel power ratio when drifting
highgrass_Limit	1.5	amp	When the cutter disc goes over a set limit, the mower take action	1.0.4
BatteryChargeTime	60	min	Time for how long charging	1.0.7
perimeterTrackerSpeed	3359	0 - 3359	Speed when going home	1.0.7
cut_perimeter_ratio	0
Guide_Integrity_IN	0.90
Guide_Integrity_OUT	-0.90
motorTurnStatic_time	700	ms
motorTurnRandom_time	700	ms
motorBackward_time	1500	ms
use_guide_wire	0