RL2000 goes Teensy

Thank you @Bernard It seems that something is wrong/different with the latest toolchain for VS-code.
You are using an older version than platformio will install now.
Code: 
PLATFORM: Teensy (4.13.1) > Teensy 4.1
HARDWARE: IMXRT1062 600MHz, 512KB RAM, 7.75MB Flash
DEBUG: Current (jlink) External (jlink)
PACKAGES:
 - framework-arduinoteensy @ 1.154.0 (1.54)
 - tool-teensy @ 1.155.0 (1.55)
 - toolchain-gccarmnoneeabi @ 1.50401.190816 (5.4.1)

latest with Platform 4.18.0:
Code: 
PLATFORM: Teensy (4.18.0) > Teensy 4.1
HARDWARE: IMXRT1062 600MHz, 512KB RAM, 7.75MB Flash
DEBUG: Current (jlink) External (jlink)
PACKAGES:
 - framework-arduinoteensy @ 1.158.0 (1.58)
 - tool-teensy @ 1.158.0 (1.58)
 - toolchain-gccarmnoneeabi-teensy @ 1.110301.0 (11.3.1)

also the resulting code size is much smaller with your environement:
Code: 
teensy_size: Memory Usage on Teensy 4.1:
teensy_size:   FLASH: code:187484, data:34928, headers:9008   free for files:7895044
teensy_size:    RAM1: variables:45824, code:184600, padding:12008   free for local variables:281856
teensy_size:    RAM2: variables:12384  free for malloc/new:511904

4.18.0:
Code: 
teensy_size: Memory Usage on Teensy 4.1:
teensy_size:   FLASH: code:212520, data:32080, headers:8324   free for files:7873540
teensy_size:    RAM1: variables:41856, code:209432, padding:19944   free for local variables:253056
teensy_size:    RAM2: variables:12416  free for malloc/new:511872

I will try to move back to your version / platform
 
Unfortunately I cannot go back to platform 4.13.1, it is not available for Win10 AMD64. @Bernard which OS do you use?
May your Arduino-IDE is using an newer platform and toolchain too? This can match your observation of chattering motors, before you switched to VSC.
 
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Bernard said:
I use Win 11

How to check this ?
Click to expand...
It can be found inside Boardmanager in Arduino IDE
Arduino_IDE_Toolchain.png
This 1.59.0 refers to the VS-Code Compile LOG

snap_compiledata.png

Unfortunately I cannot go back to your version in VS-Code because it is not available to download anymore.
May you should not update your VS-Code Toolchain ;-)
Thank you @Bernard
 
@Bernard would it be possible that you send me some file copies from your platfomio installation?
May I can install the version you are using on my system.
C:\Users\"username"\.platformio\packages\framework-arduinoteensy... (can be more than 1 folder)
C:\Users\"username"\.platformio\packages\tool-teensy
C:\Users\"username"\.platformio\platforms\teensy... (can be more than 1 folder)

I appreciate your help.

PS: If the size is too big, I can share a dropbox-link
 
SefanH said:
What type of GPS components did you use?
The mower ist still mowing?
Click to expand...
Ich habe direkt bei Ardusimple bestellt und werde dann Ntrip nutzen, da Sapos bei uns kostenlos ist. (simpleRTK2B - Basic Starter Kit ohne Stiftleisten + WiFi NTRIP Master). Plan ist aber komplett auf einen RPi4 mit Cassandra im RL2000 zu setzen (großer Dank an @EinEinfach ) und dann auch das NTRIP über den RPi zu machen NTRIP mit RPi (WiFi NTRIP Master kann dann entfallen)
Der Mower fährt noch nicht komplett, aber GPS ist schon getestet mit Sunray ohne Cassandra. Bisher gab es noch ein paar Probleme mit dem Kompilieren des Teensy-Code (siehe oben).
Über Pfingsten geht es weiter ;-)
 
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Ich habe nicht ausreichend Fläche, da lohnt sich GPS nicht wirklich. Ich bin jetzt auch fast fertig (ein Die Dioden sind noch nicht hier) und versuche die alten RL2000 Perimeterspulen zu nutzen.
Heute werde ich noch ein paar Kabel Crimpen. Ich hoffe das ich dem Mäher in der nächsten Woche leben einhauchen kann. Ich habe einen großen liio-Akku vom Chinesen hier, 7S6P 18Ah, mal sehen ob der seine Leistung auch liefert.
 
My RL2000 work actually with Sunray running on Teensy MainPCB /PowerPCB/PI4 with Pisunray for camera and map management.
No particular issue except bad GPS reception under big tree ,so i work on it and a lot of work to have something working in all condition.
 
First run on the lawn today and I'm facing some issues. I use pure sunray (free version) to check all the functions. I have GPS fix all the time,but often I get GPS jumps, followed by "no map route" or "kidnapped" but the mower is within the perimeters. Also the mower symbol in the app shows not the real orientation, may this cause the strange movement most of the time.
@Bernard did you add some capacitors on the motors to reduce the interferences? Can you share your settings from sunray app please?
T his would be great and I appreciate your ongoing help.
 
@Bernard did you add some capacitors on the motors to reduce the interferences?
Click to expand...
No.
Can you share your settings from sunray app please?
Click to expand...
No particular setting ,What do you want to see ?

For GPS Jump, it's certainly issue in the GPS signal .
Are you sure that the GPS don't jump to invalid ?
 
Bernard said:
No.

No particular setting ,What do you want to see ?

For GPS Jump, it's certainly issue in the GPS signal .
Are you sure that the GPS don't jump to invalid ?
Click to expand...
Yes, rhe GPS jumps from fix to invalid sometimes. No idea why. There is no tree or wall beside. Let me try a ground plane for the GPS antenna first and see if this will help. Do you use a ground plane?
 
From where the GPS invalid is coming from? I thought the GPS jumps are the issue? I found an interessting thread on Ardumower forum, think this can also a issue. Ardumower forum
I will prepare the groundplane first. Did you connect it to batterys ground, or left it float?
 
Update from weekend: 2nd test on real lawn, now with Cassandra on RPi4 - looks not bad, I think. :D
Now I need a proper outdoor accesspoint and may I need to change the battery too. I'm using a LiFePo4@24V@5Ah, but the voltage curve of LiFePo4 is very flat and so it's hard to calculate the SOC of the battery. Did anyone has a good suggestion?

Many thanks to all of you, especially to @Bernard for all the very useful hints and all the help and @EinEinfach for the great Cassandra (Fuchs ist raus)
 
Boesling said:
Update from weekend: 2nd test on real lawn, now with Cassandra on RPi4 - looks not bad, I think. :D
Now I need a proper outdoor accesspoint and may I need to change the battery too. I'm using a LiFePo4@24V@5Ah, but the voltage curve of LiFePo4 is very flat and so it's hard to calculate the SOC of the battery. Did anyone has a good suggestion?

Many thanks to all of you, especially to @Bernard for all the very useful hints and all the help and @EinEinfach for the great Cassandra (Fuchs ist raus)
Click to expand...
Cool.
Can you check your stanley K P setting:
I use this one and i think the straight line is better.
20:43:09 STANLEY_CONTROL_K_SLOW: 0.10
20:43:09 STANLEY_CONTROL_P_SLOW: 1.30
20:43:09 STANLEY_CONTROL_K_NORMAL: 0.30
20:43:09 STANLEY_CONTROL_P_NORMAL: 1.30
Click to expand...

Or mow faster , i use 0.4 m/s.

I have upload a new version, with some change in battery behaviour, maybe you can test it or take a look at git history to see the change.

github.com

GitHub - Boilevin/Sunray_TeensyPcb: sunray code for teensy PCB

sunray code for teensy PCB. Contribute to Boilevin/Sunray_TeensyPcb development by creating an account on GitHub.
github.com github.com
 
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