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Perimeter wire with sensors for robotic mower

grint last edited by

Many of the robotic mowing options out there use a perimeter wire pegged down to define a boundary. Can the pegs be numbered and when a mower gets near the perimeter it senses (for example) Peg 3. How would
a} the individual pegs get their own identity
b} since they would be (shallowly) below soil how could a robotic mower identify them through the soil?
Thanks
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Yveaux Mod last edited by @grint

@grint Nice topic!
But googling immediately led me to this site: http://www.ardumower.de/index.php/en/induktion
Seems quite easy to build yourself.
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grint last edited by @Yveaux

@Yveaux - hi - I've seen that and spoken to them, but they don't use the system with numbered pegs that I'm suggesting to get a clearer map of the robot's location. They simply use a perimeter wire. Their lane-by-lane mowing doesn't work very well, because... knowing where the robot is within the defined perimeter is pretty hard. Cheers,
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Yveaux Mod last edited by @grint

@grint how would a compass sensor perform in a lawnmower robot?
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@BulldogLowell said: @mntlvr said: And if all six switches are set to gnd the total current would only be 1.5 ma (5volts /20k)x6=.0015 amps I believe. the internal pullup resistors are 20k-50k according to arduino spec. yeah, I know, but if you are underpowered already (the radio....) the extra draw may create an issue... who the heck knows. I'll try on one of mine when I get the chance... your code works, and that's a treat, but now I need to understand why the simpler execution of the same code doesn't seem to cooperate with your rig. weird... you code with pinMode(buttonPin[i], INPUT); exactly same board and USB power supply and same transceiver, here are the results Sending device info...sensor started, id 32 send: 32-32-0-0 s=255,c=0,t=17,pt=0,l=5,st=ok:1.4.1 send: 32-32-0-0 s=255,c=3,t=6,pt=1,l=1,st=ok:0 read: 0-0-32 s=255,c=3,t=6,pt=0,l=1:I send: 32-32-0-0 s=255,c=3,t=11,pt=0,l=13,st=ok:RemoteControl send: 32-32-0-0 s=255,c=3,t=12,pt=0,l=4,st=ok:1.15 Setting up Pin0 send: 32-32-0-0 s=0,c=0,t=0,pt=0,l=0,st=ok: Setting up Pin1 send: 32-32-0-0 s=1,c=0,t=0,pt=0,l=0,st=ok: Setting up Pin2 send: 32-32-0-0 s=2,c=0,t=0,pt=0,l=0,st=ok: Setting up Pin3 send: 32-32-0-0 s=3,c=0,t=0,pt=0,l=0,st=ok: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: read: 32-32-0 s=3,c=0,t=0,pt=0,l=0: Setting up Pin4 send: 32-32-0-0 s=4,c=0,t=0,pt=0,l=0,st=ok: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: read: 32-32-0 s=4,c=0,t=0,pt=0,l=0: Setting up Pin5 send: 0-0-0-0 s=5,c=0,t=0,pt=0,l=0,st=ok: read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch read: 36-81-0 s=0,c=5,t=0,pt=0,l=0: version mismatch Sensor presentation complete send: 0-0-0-0 s=3,c=1,t=16,pt=2,l=2,st=ok:1 Pin 3 changed state... New State: Tripped send: 0-0-0-0 s=0,c=1,t=16,pt=2,l=2,st=ok:1 Pin 0 changed state... New State: Tripped send: 0-0-0-0 s=1,c=1,t=16,pt=2,l=2,st=ok:1 Pin 1 changed state... New State: Tripped send: 0-0-0-0 s=2,c=1,t=16,pt=2,l=2,st=ok:1 Pin 2 changed state... New State: Tripped send: 0-0-0-0 s=3,c=1,t=16,pt=2,l=2,st=ok:0 Pin 3 changed state... New State: Not Tripped

Perimeter wire with sensors for robotic mower

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