Probably is the LIDAR like it says. Should be easy to check the LIDAR motor. Unplug it and check with an ohm-meter. If you have a variable power supply, you can see if it spins, guessing 3V might be safe under no load. Set a low current limit if you can. Or a couple AA’s in series.
Start-up sequence
- “Starting cleaning”
- LIDAR spin
- Side brush spin
- Both wheels forward for a bit
- Rotate - room scan.
- Stop - facing forward
- Turn a bit to go off in another direction to do a second stage room scan. (if needed)
- Vacuum start
Docking sequence
- Gets in front of the docking station, faces towards it.
- Moves forward with side-to-side movement to line-up between the two IR emitters on the docking station.
- Slows down and goes straight until almost touching.
- Rotates 180.
- Goes backward slow until contact is made.
- Re-try if needed.
Immobile (lifted)
It tries to move the wheels in different directions and speeds. I stopped it after a minute or so since it didn’t want to give up so easily. This method can be used to inspect the wheel motor function.
(used two of these gave the height needed to keep the wheels off the ground and still satisfied the drop sensors. Height: 1-7/16" minus carpet deflection)
Other observations
- “Front bumper blocked or soiled” (something along those lines) – First time hearing that, not sure what caused it.
- All 4 drop sensors must be covered to defeat detection of lifted-off-the-ground, not just the side-most ones.
- It does appear to have some kind of tilt/angle sensor, with all 4 drop sensors blocked, it can still detect that it is not level or upside-down!
- “Please check that my wheels are touching the ground” message is triggered by the drop sensors. (Added 2023-11-04)
- “Please move me to a level surface” message is triggered by the internal tilt/angle sensor. (Added 2023-11-04)
- If the robot is off the ground AND at a steep angle, the drop sensor triggered message takes priority. (Added 2023-11-04)