How do I prevent the tires of getting packed with mud when driving on the field?

It is strongly recommended to not drive the AX-1 robot in muddy conditions. 
Operation in muddy conditions greatly increases the risk of damage to both the robot and the crops.  
 
Prolonged operation in the mud puts extra pressure on the wheels and their motors. The increased workload on the motors imposes a greater risk of burning a fuse or, in worst case, the motor itself. If the back tyre or bearings are packed with mud, its functionality might be reduced. As a result of malfunction, the wheel can get stuck in a sideways position and further lead to misalignment from the route. 
 
As mud builds up around the wheels, the robot will struggle with traction and potentially get stuck. With increased instability and unpredictable movements, spraying accuracy might be reduced. If mud gets inside the nozzles or on the Blythii camera lens, spraying and classification might get affected.  
 
The best way to prevent these issues from happening is to not drive in muddy conditions. 
If this is impossible, take the necessary precautions to minimize the damage potential.  
 
 
Precautions for muddy conditions: 

• Make sure that all wheels are fastened properly and are in good condition. 

• Frequently check that the back wheel maintains manoeuvrability. 

• Try to avoid routes with frequent changes in direction and inclination.  

• Make sure the camera lenses and height sensors are clean. 

• Avoid using a full tank as a heavier robot is more likely to slide.  

• When the robot stops, try to remove as much mud from the wheels as possible.  

• Increase the threshold for the “safety zone” parameter. 

• Keep an eye on the spraymap when starting an operation. 

• Contact support if unsure or in doubt.  

*Driving in muddy conditions will increase the probability of need for human intervention*