AgOpenGPS - Page 374 - The Combine Forum
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post #3731 of 3856 (permalink) Old 06-13-2019, 03:41 PM
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So I've been stumbling through AoG's code & the shared Arduino sketches trying to get a handle on what the different PGN bytes/bits all do. I've been editing the pgn-dev.xlsx from about a week ago. Is there another online document or any collaboration going on with creating an API or PGN document or something similar?

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post #3732 of 3856 (permalink) Old 06-13-2019, 03:43 PM
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Here's my file, rename the extension.

Attached Files
File Type: txt pgn-dev - xlsx.txt (18.5 KB, 39 views)
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post #3733 of 3856 (permalink) Old 06-13-2019, 05:02 PM
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Originally Posted by m_elias View Post
Brian, I'd like to install pressure sensors on my sprayer so that it can be operated manually but AoG will still map the coverage. Any pointers on how to modify AoG so that it doesn't assume coverage is the same as commanded sections but rather based on a reported byte from the Arduino?
I think I have things working except for in the future, I expect we would like to move towards solenoid valves and AutoSection control WITH pressure sensor feedback/mapping. Currently, both AutoSteer(7FFE) and Rate(7FFA) section control relay data to the Arduino is controlled by my pressure switches. Instead, I'd like to have the option of commanding the section relays according to AutoSection/Manual control but draw the coverage map according to the Rate Module(7FF9) relay/sectSW data from the Arduino. This way AoG gets confirmation that the booms at least have pressure instead of assuming the solenoid valves are working and also allows for automatic mapping with a simple manual control.

Any thoughts on how to go about that? So far there are no solenoid valves and I don't expect any will get installed any time soon.
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post #3734 of 3856 (permalink) Old 06-13-2019, 05:14 PM Thread Starter
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Originally Posted by Jmay.david View Post
Gotcha. Well, I'm finally doing a build on a combine in the next couple of weeks so I'll keep testing the devs on it. So that's flipped the antenna position around, correct? I'm thinking about placing the antenna more towards the engine block so it'll pick up changes quicker being closer to the steering. But I would have to put 'pivot axle point is behind the antenna', even though the drive/pivot point would be in front of the antenna?

Well, here ya go! It was a driving disaster lol.



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post #3735 of 3856 (permalink) Old 06-13-2019, 07:15 PM
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So now could you back up two wagons with Ackermann running gear?
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post #3736 of 3856 (permalink) Old 06-14-2019, 02:09 AM Thread Starter
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So now could you back up two wagons with Ackermann running gear?

That would be a really fun algorithm to write and figure out - to back up a trailer. Maybe fun isn't the right word
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post #3737 of 3856 (permalink) Old 06-14-2019, 03:39 PM
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That would be a really fun algorithm to write and figure out - to back up a trailer. Maybe fun isn't the right word
Interesting problem though. Need to deal with the pivot points and wheel placements.
The Ford trucks use the fish-eye backup camera and a couple of stick-on targets on the trailer to orientate the system.
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post #3738 of 3856 (permalink) Old 06-14-2019, 10:16 PM
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Interesting problem though. Need to deal with the pivot points and wheel placements.
The Ford trucks use the fish-eye backup camera and a couple of stick-on targets on the trailer to orientate the system.
Volvo did it! I was thinking back to this post
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post #3739 of 3856 (permalink) Old 06-15-2019, 12:29 AM
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For two ackerman steering trailers, I'm sure the math is doable. But reality would probably prove an order of magnitude more difficult (at least) because slop in the pivot points means there are actually many more directions of motion possible. Increases the complexity of the problem dramatically.

Backing up one trailer with a steerable axle (which is the equivalent of two trailers) is not that hard. Backing up three trailers or more? I doubt anyone, including Volvo could do it for very long.
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post #3740 of 3856 (permalink) Old 06-15-2019, 09:15 AM
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Quote:
Originally Posted by MTZ8302 View Post
Today's tests:

https://youtu.be/vaWTCXng5EU


Driving in the vineyards:

https://youtu.be/uM4W7o_stao


The software:

https://github.com/mtz8302/AG_GPS_ROOF_UNIT_ESP32

In AOG add to CNMEA line ~435:

//MTZ8302 june 2019
double.TryParse(words[13], NumberStyles.Float, CultureInfo.InvariantCulture, out headingTrue);
if (headingTrue > 0.00001)
{ headingHDT = headingTrue; }
else//keep old value
{ headingTrue = headingHDT; }



Greetings Matthias

Golly Matthias, that is some trust in the technology. Very cool (and scary) to watch!

This sounds like a silly question but could you post some closeup photos of your steering motor mount setup? It looks very good and smooth.

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