RazorBoard v1.0.7

From now on, old settings will be retained when upgrading, and new settings will be added with default settings, which you can change of course!

New features

• Perimeter cutting - Razorboard can now cut the perimeter when going home. With the new command "set perimeter cut ratio" you can now set a number between 0-100. 0 = never cut, 100 = always cut. And anything in between. (33 = cut 1/3 of times when going home)

• Verification of settings - Razorboard will now verify critical settings before loading them into memory.

• Config version aware - Razorboard will now only add new settings instead of overwriting all settings when upgrading.

• Lock/unlock docking - If you want the mower to stay inside the docking station you can now lock it, and unlock when you want it to go out again. This would require remote connection to be effective, unless you dont want to connect with a USB cable everytime.
  Command: "lock docking" and "unlock docking"

• Steering correction - If your mower is drifting to much, you can now add your own steering correction value (this was hardcoded before)
  Command: "set steering correction X"

• Perimeter Tracking Speed - You can now set perimeter tracking speed.
  Command: "set perimeter speed X"

• Roll Tilt Compensation - You can compensate roll/tilt when going backwards/forward in a slope.
  Command: "set roll tilt comp X"

Fixes

• I2C fix, which triggered "reInitIMU" a little too much.
• "help" is now cleaned up, columns are now aligned.
• Missing commands are now added to help.
• Some internal reformat and cleanup of code.
• Some glitches are fixed with the new scanning of board revision.

Merge of board revisions

UPDATE
A bug has been discovered:
If you don´t get any sensor readings, you need to verify this:
On board revision 1.0, the ADC level in "show config" should be 1267
On board revision 1.2, the ADC level in "show config" should be 2050
You change it by typing: "set adc level 2050" and then don´t forget "save config"

From now on both board revisions (1.0 & 1.2) will be supported on the same code base and have the same .bin-file.

• i2c-scanner for detecting board revisions
• bug fixes for mpu
• force saving new default settings when updating to new release (roadmap includes not overriding existing settings)

RazorBoard v1.0.5

There might be a small error causing the board to crash when upgrading to 1.0.4.

The reason for this is that with every release new settings are included, and when RazorBoard tries to read these settings some random data might be read for the first time. (That´s why I want you to do a "save default config").

With 1.0.5 I will instead force the board to save the default config before reading the config. So please export any special settings you have before upgrading.

RazorBoard v1.0.4

RazorBoard 1.0.4

As before, do a "save default config", after upgrade. take a copy of "show config" if you have any specific settings.

New features:

• High Grass detection
  When the cutter disc goes over a set limit, the mower will stop and go backwards, stop for 2.5 seconds to allow the disc to gain speed, then it will slowly go forward for 5 seconds, if the limit is reached again, the whole process will start over. In this way we will force the mower to cut any high grass.

• Pitch/Roll compensation
  If your MPU is not perfectly flat, you can now compensate this by adding the error in the config.

• Error log
  There is now an error log in which error messages are stored, 20 lines with 50 characters each. This log will be retained even if power is gone.
  So you can always go back and check the messages.

Improvements

• When the mower is tracking the perimeter wire and one sensor is on one side for more than 10 seconds, the mower will stop. It is determined that it is probably stuck.

• The perimeter tracking has some small improvements.

• When going backwards, RazorBoard will check how much its tilting forward, and use some extra time to go backward.

• Undocking time is now configurable

• Lots of annoying bugs are fixed.

RazorBoard v1.0.3

RazorBoard 1.0.3

As before, do a "save default config", after upgrade. take a copy of "show config" if you have any specific settings.

New features:

• You are now able to add a 3rd sensor (BWF3), you can place this at the center in the rear of the mower.
  This will detect and stop if you try to go backward over the BWF wire. Useful in narrow places.
  The 3rd sensor will be automatically enabled when going backwards.
  No action is required from the user, just add the sensor, or not.

• Movement count limit, you can now set how many times the movement detection can trigger before HALT.
  The count is reset when going over the BWF. Useful if you get stuck, and it will only try X times before HALT.

• Bumber count limit, you can now set how many times the mower can bumb into objects before HALT.
  The count is reset when going over the BWF. Useful in narrow places when it cannot find it´s way out.

Bug fixes:

• One particular bug fix involves inconsistent detection of the sensors. Now the number of detections per second are more consistent.
• Various small bug fixes

RazorBoard v1.0.2

Attention!

When you load this firmware 1.0.2, please DISABLE the system and then type "save default config".
Then verify all settings needed with "show config".

New features:

1. Proximity Magnitude
   This feature will slowdown the mower when it is approaching the wire.
   You can set 3 settings for this: "set mag value", "set magmin value" and "set proximity speed".
   This is usefull whe going down a slope in full speed, the mower will start to de-accelerate before reaching the wire.
   "set mag value" is the value the mower needs to go above to initiate slowdown.
   "set magmin value" is the value the mower needs to go below to release the slowdown.
   "set proximity speed" is the speed you want the mower to use when slowing down, a value of 0.80 is 80% of the current speed (default).
   You can verify the value in "debug on".
   To use this feature, disable the system, then place the mower with the sensors towards the wire, at a distance you want
   the slowdown to start, lets say 50cm from the wire, type "debug on" and remember the "Magnitude value", lets say it´s 370, now type
   "set mag value 370" and "set magmin value 350". The Mower will slowdown when ONE sensor is above 370, and will release
   slowdown when BOTH sensors are below 350.

2. Movement detection
   The mower can detect if it´s standing still but the wheels are running.
   This is useful when the mower gets stuck in hole or something, wheels are running but it does not go anywhere.
   Setting: "set movement value", default in firmware is 0.50.
   You can verify the movement value in "debug on"
   When no movement is detected, the mower will simply go backward and turn. This will be improved in future firmware

Various bug fixes and design changes.
A lot more settings can now be configured. Please type "help" to view the list.

RazorBoard v1.0.1

With this release you can now Read/Write to SRAM, save/load config which will be retained during power off if a RTC battery is connected.

RazorBoard v1.0.0

Update README.md