LELY DISCOVERY 90 S, Operator'S Manual

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4-26 Description and Operation
Manual Cleaning with Manual Routes
It is useful to enable MANUAL ROUTE . You then can clean a part of the barn whenever you want or test a
route. It is also useful to program routes from different points in the barn back to the charging station for
instance to pick up a lost vehicle.
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Figure 14. Actions make a route
KEY: 1. Charging station - 2. Wall flw L - 3. Turn R – > - 4. Straight - 5. Wall flw R
4.4.2 Control System
The control system keeps the vehicle on the right track.
4.4.2.1 Driving Distance
The encoders on the drive motor measure the number of rotations of the motor shafts. This value is used
to calculate the travelled distance. If, due to slip, the actual driving distance is less than calculated, it can
only be corrected if the action ends at a bump point (a collision point with a wall). If an expected bump
point is not reached, the machine continues driving for a limited distance.
The driving distance is corrected in the software, so the next time the machine drives a bit further. On the
other hand, if a bump point is reached earlier than expected, it is also corrected. These corrections are
deleted when you reset the ADS3840 PCB.
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