Teensy PCB Ardumower (T-Mow)

[LaurentS]

Very cool.
Can you upload it here or on Thingiverse? I could use it too

No problems Sascha but it's a work on progress and I will do a second one who will use rubber vibration damping to fix PCB's, because fixed directly on chassis, I don't think they will appreciate.

Now, if you can manage to design a replacement housing for the upper housing with the old number field, in which the 5" touch screen also fits, you are my friend

I thought about this also, but I'm also on thinking if it's really necessary if you use a tablet ?

I'm not sure, but maybe it's a good idea to remove the magnets on the right and left in the housing mounting, they could become a problem for the compass. There are also two at the top front of the case.

Well I haven't really bothered about those ones for now... for what is the compass used ? Bernard, to start which options should I take at first ? directly camera + HR-SR04 +... , perimeter cable ?

I'm also working on a bracket for 3 drivers but I have ordered new vibrations dampers ; I will add two stands at the front.

 

[LaurentS]

I will desolder the connectors on the drivers because you can't screw vib dampers on it if they are on place... really stupid thing.

 

[Sascha]

I still have heat sinks under the drivers, so it definitely doesn't fit like that. The best thing would be a plate that is clipped to the motors, where the drivers with heat sinks fit.
And I have removed the space for the battery pack, otherwise my battery won't fit.

And your Logo is wrong

 

[LaurentS]

I asked me the question about to add heat sinks or not. I think about trying without, as delivered.

 

[Bernard]

Well I haven't really bothered about those ones for now... for what is the compass used ? Bernard, to start which options should I take at first ? directly camera + HR-SR04 +... , perimeter cable ?

In all case:
Perimeter cable is mandatory with sender and perimeter receiver with coil.
I hope the mower have left and right bumper ?
Receiver need to be locate in front at the center of the mower and as far as possible from electronics.

WIFI Perimeter Sender(English) – www.wiki.ardumower.de

wiki.ardumower.de

To use mower on standard area <800 M2
You neeed the 2 PCB / Motor driver / Bumper
Remember i never use Brushless motor ,so you need to check that current sense for motor are correctly working with INA226 and there is no electronics noise on the coil receiver.


For big area >800 M2
The RFID option really help a lot but i don't know where you can put the RFID PN5180 inside your chassis (need distance to floor <10 cm )
With high speed mowing HR-S04 are used to reduce speed near obstacle and avoid hard bump.

For fun:
Raspberry and camera are optional and it's better to first start without.Add it when everything is OK.
In the past MQTT and rfid are only manage by RPI but now it's possible to use ESP32 for this.

For Camera a low cost solution to stream video is ESP32 CAM.

 

[LaurentS]

In all case:
Perimeter cable is mandatory with sender and perimeter receiver with coil.
I hope the mower have left and right bumper ?

Thanks Bernard, there are no bumpers, but the complet external body is suspended and switches are for quiet easy to add on the main body, to controll the positions from one against the other.

Receiver need to be locate in front at the center of the mower and as far as possible from electronics.
View attachment 233View attachment 234View attachment 235

WIFI Perimeter Sender(English) – www.wiki.ardumower.de

wiki.ardumower.de

To use mower on standard area <800 M2
You neeed the 2 PCB / Motor driver / Bumper
Remember i never use Brushless motor ,so you need to check that current sense for motor are correctly working with INA226 and there is no electronics noise on the coil receiver.

I will have a look .... .

For big area >800 M2
The RFID option really help a lot but i don't know where you can put the RFID PN5180 inside your chassis (need distance to floor <10 cm )
With high speed mowing HR-S04 are used to reduce speed near obstacle and avoid hard bump.

For fun:
Raspberry and camera are optional and it's better to first start without.Add it when everything is OK.
In the past MQTT and rfid are only manage by RPI but now it's possible to use ESP32 for this.

For Camera a low cost solution to stream video is ESP32 CAM.

Perfect, I will start with easier things... thanks Bernard for your help.

Pictures added, the second mower.

Is the Teensy PCB ready for two perimeter Sensors, connected for left side on J19 and right side on J13 ?

Is the sensor used this LM386 module ?

 

[Bernard]

Is the Teensy PCB ready for two perimeter Sensors, connected for left side on J19 and right side on J13 ?

Yes on hardware but the software use actualy only the left side ,so connect on J19.
Yes it's what you show LM386 amplifier

 

[LaurentS]

Yes on hardware but the software use actualy only the left side ,so connect on J19.
Yes it's what you show LM386 amplifier

Thanks Bernard, how must be the volume adjusted (output signal) and must the sensor be out of the body ?

 

[Bernard]

On L386 you need to shunt the capacitor and adjust the poti to max (clockwise max i think).

Datei:Perimeter v2 receiver circuit.png – www.wiki.ardumower.de

wiki.ardumower.de

I always put receiver out of the body.
A simple 3D printed box is possible in front of the mower.
But i can't find the 3D file.
I find only 3D file with the coil out of the mower body.

 

[LaurentS]

On L386 you need to shunt the capacitor and adjust the poti to max (clockwise max i think).

https://wiki.ardumower.de/index.php?title=Datei:perimeter_v2_receiver_circuit.png

I always put receiver out of the body.
A simple 3D printed box is possible in front of the mower.
But i can't find the 3D file.
I find only 3D file with the coil out of the mower body.

Perfekt, thanks Bernard; no problem, I will adapte something for my mower, also in the same time, for bumper switches Left and right.

Which distance you have between sensor and ground ?

 

[Sascha]

I have add 2 Microswitch in left and right. Now the mower know If he bumps right or left. The battery Cover is also remove so that any 7s3p fit in.
The TFT Cover is not very nice, but serves its purpose. Unfortunately I don't know how to use CAD programs to design a new top.

 

[LaurentS]

Hi Sascha, thanks for your photos; really clear now how you installed your elements. I will use the same positions for left and right switches.

 

[Sascha]

View attachment 103View attachment 104

@Bernard
After cutting the pads, should the Teensy be recognized normally in the Arduino IDE?
Mine is no longer recognized and I can't see if it works in any way.
I have now ordered a new one...

 

[Bernard]

After cutting the pad you need to power the pcb normaly with a battery and power PCB or with 5V on J25.
It's normal that TEENSY is not detected after cutting the pad if you don't power it on VIN.

 

[Sascha]

Ok thanks.

 

[Sascha]

I really have to admit that I'm not very good at soldering, and somehow I'm not having any luck at the moment.
First my lab power supply broke and now there's something wrong with my PowerPCB...
As soon as I switch on the emergency stop, everything gets power without pressing the button.
So I must have a short circuit somewhere.
I'm about to go crazy...

 

[LaurentS]

You should start with only the power pcb and the main pcb, than step by step add an option (emergency taster, start knob, ... ) , test it, add a second one, test it, etc....

 

[Sascha]

Yes thank you, that is how it should normally be. My little one messed up my capacitors and I got the wrong one. Then it have given magic smoke from itself. And now the powerpcb ist allways on If i Push the emergency switch.
Today again check everything under the magnifying glass and maybe soldering a News powerpcb

 

[Sascha]

Error found, an IRF9540N had a short circuit

 

[LaurentS]

Yes! good job Sascha !