System operation
Chapter 4 - page 6
4
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several adjustable variables, they can be selected with the Soft2 button and then modified as described
previously.
The other variables are the current values for the barn cleaner.
After stopping, there is a screen showing the options for the Soft and Start/Stop buttons:
• SAVE (Soft1 button): store the action in memory.
• CANCEL (Soft2 button): undo the action (cancel); this takes you automatically into manual operation and
then goes back to the previous situation (most recent "SAVE" point).
• MANUAL (Soft3 button): to adjust the barn cleaner a little more before storing the action (for example to help
it make a turn; this final gyroscope value is then stored).
• Start-Stop/Starting: continue with the original action (so you can stop for a moment if there are cows in the
way).
The scroll menu then lets you make the following choices:
1) Follow Wall L (tracking along a wall on the left: left-hand motor runs at 90% and the right-hand motor runs at
100%):
The following variables are shown:
• Act.no.: sequence number for the actions in this route
• RunDst: current distance travelled in mm
• Speed1: left wheel speed in mm/s
• Speed2: right wheel speed in mm/s
There are two ways of stopping:
• PR, collision point: let the barn cleaner bump into the collision point; this point is also stored in the memory.
Try to use as many collision points as possible within the shed. When approaching such a collision, press the
"PR" button. The Discovery is now anticipating a collision point and will move more slowly. If there is a bit of
wheel spin when traversing the route, the barn cleaner will then still keep going until the collision point.
• Start/Stop, stopping manually: a certain distance travelled is stored in memory via this action.
2) Follow Wall R (tracking along a wall on the right) The following variables are shown:
• Act.no.: sequence number for the actions in this route
• RunDst: current distance travelled in mm
• Speed1: left wheel speed in mm/s
• Speed2: right wheel speed in mm/s
There are two ways of stopping:
• PR, collision point: let the barn cleaner bump into the collision point; this point is also stored in the memory.
Try to use as many collision points as possible within the shed. When approaching such a collision, press the
"PR" button. The Discovery is now anticipating a collision point and will move more slowly. If there is a bit of
wheel spin when traversing the route, the barn cleaner will then still keep going until the collision point.
• Start/Stop, stopping manually: a certain distance travelled is stored in memory via this action.
3) Straight
NOTE
• For this action, it is important that the barn cleaner's direction of travel when started up is correct. Only then
is the gyroscope value concerned stored in the memory. This gyroscope value is used when starting the
route, to ensure that it starts off in the right direction.
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