bool Cutting_Blades_Activate = 1; // Activates the cutting blades and disc in the code bool WIFI_Enabled = 0; // Activates the WIFI Fucntions bool Perimeter_Wire_Enabled = 1; // Activates use of the perimeter boundary wire //Docking Station bool Use_Charging_Station = 1; // 1 if you are using the docking/charging station 0 if not bool CW_Tracking_To_Charge = 1; // Clock-Wise tracking around the boundary wire to the charging station bool CCW_Tracking_To_Charge = 0; // Counter-Clock-Wise tracking around the boundary wire to the charging station bool CW_Tracking_To_Start = 1; // tracking around the boundary wire when tracking to the start position bool CCW_Tracking_To_Start = 1; // Counter-Clock-Wise tracking around the boundary wire to the charging station byte Docked_Filter_Hits = 1; // Number of charge signals to be detected before mower powers off int Track_Wire_Zone_1_Cycles = 1000; // Zone 1 - Number of Itterations the PID function does before the mower exits the wire track int Track_Wire_Zone_2_Cycles = 2000; // Zone 2 - Therefore how long the mower is tracking the wire can be set = distance tracked. int Max_Tracking_Turn_Right = 270; // The maximum number of turn right commands during wire tracking before a renewed wire find function is called int Max_Tracking_Turn_Left = 270; // This helps to re-find the wire should the mower loose the wire for any reason. int Max_Cycle_Wire_Find = 320; // Maximum number of forward tracking cycles in finding wire before the mower restarts a compass turn and wire find. //Compass Settings bool Compass_Activate = 1; // Turns on the Compass (needs to be 1 to activate further compass features) bool Compass_Heading_Hold_Enabled = 1; // Activates the compass heading hold function to keep the mower straight int Home_Wire_Compass_Heading = 7; // Heading the Mower will search for the wire once the mowing is completed. int CPower = 2; // Magnification of heading to PWM - How strong the mower corrects itself in Compass Mowing bool Pattern_Mow = 0; //*** Not Working yet // Activate pattern mowing instead of random mowing direction int Compass_Mow_Direction = 110; // Mow Direction of line when pattern mow is activated //Rain sensor bool Rain_Sensor_Installed = 1; // 1 for Rain sensor installed 0 for no sensor installed. byte Rain_Total_Hits_Go_Home = 10; // This sensor only makes sense in combination with a mower docking station // as the mower is sent there to get out of the rain. //Battery Settings float Battery_Max = 12.6; // Max battery volts in Volts. 3S = 12.6V float Battery_Min = 10.2; // Lower Limit of battery charge before re-charge required. byte Low_Battery_Detected = 0; // Always set to 0 byte Low_Battery_Instances_Chg = 14; // Instances of low battery detected before a re-charge is called.. //Sonar Modules bool Sonar_1_Activate = 1; // Activate (1) Deactivate (0) Sonar 1 bool Sonar_2_Activate = 1; // Activate (1) Deactivate (0) Sonar 2 bool Sonar_3_Activate = 1; // Activate (1) Deactivate (0) Sonar 3 int Max_Sonar_Hit = 3; // Maximum number of Sonar hits before object is discovered long maxdistancesonar = 30; // distance in cm from the mower that the sonar will activate at. //Wheel Motors Setup byte Max_Cycles = 150; // Number of loops the Sketch will run before the mower just turns around anyway. byte PWM_MaxSpeed_LH = 250; // Straight line speed LH Wheel (Looking from back of mower) byte PWM_MaxSpeed_RH = 250; // Straight line speed RH Wheel - adjust to keep mower tracking straight. int Mower_Turn_Delay_Min = 1000; // Min Max Turn time of the Mower after it reverses at the wire. int Mower_Turn_Delay_Max = 2500; // A random turn time between these numbers is selected by the software int Mower_Reverse_Delay = 1800; // Time the mower revreses at the wire //Blade Motor Setup byte PWM_Blade_Speed = 240; // PWM signal sent to the blade motor (speed of blade) new motor works well at 245. // Alarm Setup bool Set_Time = 0; // Turn to 1 to set time on RTC (Set time in Time tab Set_Time_On_RTC) After setting time turn to 0 and reload sketch. // Action for Alarm 1 is set to exit the dock and mow at this time. // To change this action go to "void Activate_Alarms()" bool Alarm_1_ON = 0; // Activate Alarm 1 (1 = ON 0 = OFF) int Alarm_1_Hour = 15; // Mowing Hour Number 1 int Alarm_1_Minute = 10; // Alarm Minute 1 bool Alarm_1_Repeat = 0; // Repeat the Alarm at the same time // Action for Alarm 2 can be set in "void Activate_Alarms()" bool Alarm_2_ON = 0; // Activate Alarm 2 (1 = ON 0 = OFF) byte Alarm_2_Hour = 18; // Mowing Hour Number 2 byte Alarm_2_Minute = 23; // Alarm minute 2 bool Alarm_2_Repeat = 0; // Repeat the Alarm at the same time // Action for Alarm 3 can be set in "void Activate_Alarms()" // Go Home Alarm bool Alarm_3_ON = 0; // Activate Alarm 3 (1 = ON 0 = OFF) byte Alarm_3_Hour = 16; // Mowing Hour Number 3 byte Alarm_3_Minute = 6; // Alarm minute 3 bool Alarm_3_Repeat = 0; // Repeat the Alarm at the same time byte Alarm_Second = 5; // Seconds /* Description of how the below values are displayed in the Serial Monitor Print Out for the wire function (InMax) Wire = 0 (OutMax) | (InMid) | (OutMid) | |--------|--------|------|------|--------|--------| | | | | | | | (InMin) (OutMin) */ // Wire detection Values /*Negative Values for In*/ // These values are based on the signal received by the wire sensor for my perimeter loop int InMin = -200; int InMid = -700; int InMax = -2000; // the maximum received signal value the wire /*General Setup PID numbers for wire tracking*/ float P = 0.095; // Multiplication factor to the error measured to the wire center. if jerky movement when tracking reduce number float D = 10; // Dampening value to avoid the mower snaking on the wire. byte Scale = 36; // Serial Monitor Line Tracking Print Scale /*Positive Values for Out*/ int OutMin = 150; int OutMid = 400; int OutMax = 1500; // the maximum received signal value outside the wire int Outside_Wire_Count_Max = 15; // If the mower is outside the wire this many times the mower is stopped int Action_On_Over_Wire_Count_Max = 3; // Set 1 to hibernate mower (Power Off and Stop) Set 2 to refind garden using sonar and wire detect function // 3 to do a refind wire function bool Show_TX_Data = 0; // Show the values recieved from the Nano / ModeMCU in the serial monitor