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ARLOK troubleshooting

How to resolve common problems with ARLOK

Quick link to this page: https://tinyurl.com/troubleshootingarlok

  1. ARLOK doesn't turn or doesn't move
  2. ARLOK make too little or too big movement while turning
  3. ARLOK goes backward too far or too little
  4. Can't upload code (stk500_getsync() error)

ARLOK doesn't turn or doesn't move

Servos are driven by an impulse. Don't forget we're using modified servos, so an impulse of about 1500mS means servo stopped (a normal servo will turn to 90 degrees), an impulse less than 1500mS will make servo moving to a direction, an impulse greater than 1500mS will make servo moving in opposite direction.

ARLOK movement is based on a central position (default 1500mS, the setup procedure is used for modifying this value) ± a constant value: ARLOK moves forward or backward using an impulse of (1500mS ± SPEED) or turns left or right using an impulse of (1500mS ± SPEED_SLOW).

SPEED and SPEED_SLOW are defined in the source code, by default:

#define SPEED  600 // normal speed for forward moving (center point+speed microseconds)
#define SPEED_SLOW 125 // speed used for maneuvers

If ARLOK cannot move forward or backwards then raise the value assigned to SPEED, example:

#define SPEED  700

If ARLOK cannot turn left or right raise the value assigned to SPEED_SLOW, example:

#define SPEED_SLOW  200

ARLOK make too little or too big movement while turning

The amount of movement during a turn is defined by the TURN_TIME value. This value is expressed in milliseconds. By default this value is 600 (ARLOK will make the movement to left of right for 0.6 second):

#define TURN_TIME 600 // amount of time used for turning, change this if turning angle is not 90 degrees

If movement of a turn is less than 90 degree, raise this value. Example:

#define TURN_TIME 1000

If movement of a turn is greater than 90 degree, lower this value. Example:

#define TURN_TIME 500

ARLOK goes backward too far or too little

The amount of movement moving backward by the BACK_TIME value. This value is expressed in milliseconds. By default this value is 500 (ARLOK will go backward for 0.5 second):

#define BACK_TIME 500 // amount of time used for going backward after robot found an obstacle

If movement backward is too large, lower this value. Example:

#define BACK_TIME 400

If movement backward is too small, raise this value. Example:

#define BACK_TIME 700

Can't upload code (stk500_getsync() error)

Probably you've the bluetooth module attached