I finally finished to construct the ardumower. Compiled the ardumower code with just sonar : the mower have a good behavior.
To go more far i would like to read data (same as when the arduino is connected by usb and we can see values in the output serial :ctrl M ) and perhaps control with pfod.
So my question is : what is the version needed ?
Onto the android store there is pfodApp v2 and v3.