Similar to snow throwing direction for the blower module, would it be possible to have the mower ignore the perimeter in certain areas by drawing a line on the perimeter?
Seems like the code should be there already, just need to re-implement it and change the logic for the mower.
-In areas where it would not be ignored, instead of doing the 2nd or 3rd perimeter pass in the same direction, it just goes the other direction (CW or CCW) to do the 2nd, 3rd, or 4th perimeter runs.