TertillUpdate

June 24, 2022

This version includes updated robot software. * Improvements to behaviors to reduce incidents where the robot would dig itself into holes * Address an issue where the robot would remain in standby mode * Internal testing improvements * Production line improvements

March 8, 2022

This version includes updated robot software. * Improvements to escape behavior to address cases where the robot would rock back and forth * Internal testing improvements * Production line improvements

August 9, 2021

This version includes updated robot software. * Improvements to escape behavior to address cases where the robot would rock back and forth * Internal testing improvements

April 22, 2021

This version includes updated robot software. * Runs 10 minutes after a button press * Improved stall detection behavior * Improved charging performance * Improved behavior when robot is fully surrounded by obstacles * Tilt sensing threshold increased to 22 degrees * Added self-test behavior * Internal testing improvements

August 21, 2019

This version includes updated robot software. Release 1.1.0 ---------------------------- * Seek out recently seen, if any, solar charging source Release 1.0.10 ---------------------------- * Reduce false infinite spin detection events. Robot should stop less often with >=70% RSOC. * (internal use) modified power management to support testing * (internal use) logs no longer truncated * (internal use) erasing all flash memory or erasing the odometer requires a "password" Release 1.0.9 ---------------------------- * Improved handling of stalled wheels Release 1.0.8 ---------------------------- * Button tap during Patrol Mode will put robot in Hold Mode, previously ignored during patrol * Improved steep slope avoidance * If internal temperature is too high the robot will go from Patrol to Autocharge or from Hold to Off * Prevent some robots from backing up a short distance when moving for the first time after power up * Audio sounds only occur when the operator pushed a button or the robot is turned upside down * Changes in robot state due to robot decisions no longer play sounds Release 1.0.7 ---------------------------- * Invoke escape if any wheel stalls Release 1.0.6 ---------------------------- * Simplified handling of stalled wheel Release 1.0.5 ---------------------------- * Support for iPhone X Release 1.0.4 ---------------------------- * Demo mode: louder and don't sleep due to spin Release 1.0.3 ---------------------------- * Improved avoidance of wall climbing * Robot won't make noises at night (solar panel not exposed to daytime level light) * If robot is stuck in a spin (e.g. rain coated plant sensors), it will go to sleep and wake itself up in 20 minutes to try again Release 1.0.2 ---------------------------- * Weedwhacker test conditions enhanced (interal use) Release 1.0.1 ---------------------------- * Stop and Suppress weedwhacker if wheels motor current is high * For BEMF feedback mode, remove remaining encoder dependencies (internal use) * CLI commands for "imu" and "imu cal" (internal use) Release 1.0.0 ---------------------------- * After power up the Top LEDs are BLUE if a Bluetooth device is connected * Note: during initial power up blue means only that Bluetooth is available * (Internal use: log changes in behavior state)

August 10, 2019

This version includes updated robot software. Release 1.0.10 ---------------------------- * Reduce false infinite spin detection events. Robot should stop less often with >=70% RSOC. * (internal use) modified power management to support testing * (internal use) logs no longer truncated * (internal use) erasing all flash memory or erasing the odometer requires a "password" Release 1.0.9 ---------------------------- * Improved handling of stalled wheels Release 1.0.8 ---------------------------- * Button tap during Patrol Mode will put robot in Hold Mode, previously ignored during patrol * Improved steep slope avoidance * If internal temperature is too high the robot will go from Patrol to Autocharge or from Hold to Off * Prevent some robots from backing up a short distance when moving for the first time after power up * Audio sounds only occur when the operator pushed a button or the robot is turned upside down * Changes in robot state due to robot decisions no longer play sounds Release 1.0.7 ---------------------------- * Invoke escape if any wheel stalls Release 1.0.6 ---------------------------- * Simplified handling of stalled wheel Release 1.0.5 ---------------------------- * Support for iPhone X Release 1.0.4 ---------------------------- * Demo mode: louder and don't sleep due to spin Release 1.0.3 ---------------------------- * Improved avoidance of wall climbing * Robot won't make noises at night (solar panel not exposed to daytime level light) * If robot is stuck in a spin (e.g. rain coated plant sensors), it will go to sleep and wake itself up in 20 minutes to try again Release 1.0.2 ---------------------------- * Weedwhacker test conditions enhanced (interal use) Release 1.0.1 ---------------------------- * Stop and Suppress weedwhacker if wheels motor current is high * For BEMF feedback mode, remove remaining encoder dependencies (internal use) * CLI commands for "imu" and "imu cal" (internal use) Release 1.0.0 ---------------------------- * After power up the Top LEDs are BLUE if a Bluetooth device is connected * Note: during initial power up blue means only that Bluetooth is available * (Internal use: log changes in behavior state)

July 3, 2019

This version includes updated robot software. Release 1.0.9 ---------------------------- * Improved handling of stalled wheels Release 1.0.8 ---------------------------- * Button tap during Patrol Mode will put robot in Hold Mode, previously ignored during patrol * Improved steep slope avoidance * If internal temperature is too high the robot will go from Patrol to Autocharge or from Hold to Off * Prevent some robots from backing up a short distance when moving for the first time after power up * Audio sounds only occur when the operator pushed a button or the robot is turned upside down * Changes in robot state due to robot decisions no longer play sounds Release 1.0.7 ---------------------------- * Invoke escape if any wheel stalls Release 1.0.6 ---------------------------- * Simplified handling of stalled wheel Release 1.0.5 ---------------------------- * Support for iPhone X Release 1.0.4 ---------------------------- * Demo mode: louder and don't sleep due to spin Release 1.0.3 ---------------------------- * Improved avoidance of wall climbing * Robot won't make noises at night (solar panel not exposed to daytime level light) * If robot is stuck in a spin (e.g. rain coated plant sensors), it will go to sleep and wake itself up in 20 minutes to try again Release 1.0.2 ---------------------------- * Weedwhacker test conditions enhanced (interal use) Release 1.0.1 ---------------------------- * Stop and Suppress weedwhacker if wheels motor current is high * For BEMF feedback mode, remove remaining encoder dependencies (internal use) * CLI commands for "imu" and "imu cal" (internal use) Release 1.0.0 ---------------------------- * After power up the Top LEDs are BLUE if a Bluetooth device is connected * Note: during initial power up blue means only that Bluetooth is available * (Internal use: log changes in behavior state)

June 10, 2019

This version includes updated robot software. Of note, it addresses an issue the robot had when connecting with X-series iPhones. Release 1.0.8 ---------------------------- * Button tap during Patrol Mode will put robot in Hold Mode, previously ignored during patrol * Improved steep slope avoidance * If internal temperature is too high the robot will go from Patrol to Autocharge or from Hold to Off * Prevent some robots from backing up a short distance when moving for the first time after power up * Audio sounds only occur when the operator pushed a button or the robot is turned upside down * Changes in robot state due to robot decisions no longer play sounds Release 1.0.7 ---------------------------- * Invoke escape if any wheel stalls Release 1.0.6 ---------------------------- * Simplified handling of stalled wheel Release 1.0.5 ---------------------------- * Support for iPhone X Release 1.0.4 ---------------------------- * Demo mode: louder and don't sleep due to spin Release 1.0.3 ---------------------------- * Improved avoidance of wall climbing * Robot won't make noises at night (solar panel not exposed to daytime level light) * If robot is stuck in a spin (e.g. rain coated plant sensors), it will go to sleep and wake itself up in 20 minutes to try again Release 1.0.2 ---------------------------- * Weedwhacker test conditions enhanced (interal use) Release 1.0.1 ---------------------------- * Stop and Suppress weedwhacker if wheels motor current is high * For BEMF feedback mode, remove remaining encoder dependencies (internal use) * CLI commands for "imu" and "imu cal" (internal use) Release 1.0.0 ---------------------------- * After power up the Top LEDs are BLUE if a Bluetooth device is connected * Note: during initial power up blue means only that Bluetooth is available * (Internal use: log changes in behavior state)

March 16, 2019

Release 1.0.1 ---------------------------- * Stop and Suppress weedwhacker if wheels motor current is high * For BEMF feedback mode, remove remaining Encode dependencies (internal use) * CLI commands for "imu" and "imu cal" (internal use) Release 1.0.0 ---------------------------- * After power up the Top LEDs are BLUE if a Bluetooth device is connected * Note: during initial power up blue means only that Bluetooth is available * (Internal use: log changes in behavior state) Release 0.2.33 ---------------------------- * Processor testing support (internal use only) Release 0.2.32 ---------------------------- * Update RTC via BLE (internal use only) Release 0.2.31 ---------------------------- * support for open chassis final test using board LEDs (internal use only) Release 0.2.30 ---------------------------- * removed short backup from row following behavior Release 0.2.29 ---------------------------- * logging improvements (internal use only) Release 0.2.28 ---------------------------- * realtime logging improvements (internal use only) Release 0.2.27 ---------------------------- * normalized stored serial number to lower case * demo mode improvements (internal use only) Release 0.2.26 ---------------------------- * Fixed false immobility detection * Fixed deflect oscillation * (configured for motor encoders) * internal odometer, temp, humidity logging improvements Release 0.2.25 ---------------------------- * production builds include a demo mode for internal use Release 0.2.22 ---------------------------- * avoids an occasional short backup motion at the end of a turn Release 0.2.21 ---------------------------- * changes to support development, these do not effect normal operation Release 0.2.20 ---------------------------- * changes to support production, these do not effect normal operation Release 0.2.19 ---------------------------- * changes to support production, these do not effect normal operation Release 0.2.18 ---------------------------- * changes to support production, these do not effect normal operation Release 0.2.17 ---------------------------- * changes to support production, these do not effect normal operation Release 0.2.16: ---------------------------- * Always play ascending three tones when powering up Release 0.2.15: ---------------------------- * Internal logging changes to help with production * Speed up the update process by only uploading the application Release 0.2.11: ---------------------------- * Modifications to LED patterns Release 0.2.9: ---------------------------- * Initial public release

September 14, 2018