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Replace all circuitry and software of your automower. Add RTK GPS. Dead simple. Auto-mode rectangles or RC via browser + keyboard wsda. Husqvarna automower 450x + beaglebone blue + simplefoc rp2040 servo amps + zed-f9p. No boundary wire. No husqvarna-only tools. No ROS. Minimal complexity.
Commodore 64 type-in basic program from the October 1984 issue of "Ahoy!" magazine. Code from magazine, conversion to PET ASCII, and the tokenized program file are included.