Join Date: Aug 2012
Location: Vermilion Alberta Canada
Mentioned: 19 Post(s)
Quoted: 2509 Post(s)
I honestly do not know, since the "hitch" isn't rigid with the articulation joint in between, which goes sideways when you correct.
I was watching closely today in the TJ how it steers, and it actually does things pretty slowly. AgOpen generates the correct steering angle - and it really should work based on the front part of the tractor and the distance from the line and the heading of it vs the heading of the desired line.
the other thing you could try is set the look ahead fairly high like 4 or 5 seconds or so, fairly low gain for "P", and 2 or 3 meters for how far back for fix to calc heading, and also disable the IMU. Also set your max steer angle to like 25 degrees. Basically start out really slow to correct. It should steer back to the line - albeit slowly, but it should be quite smooth. Increase settings one at a time and see what does what.
After seeding I would love to try it on the TJ - as soon as figure out how to tie into the CanBus to read the turn angle sensor, and control the steering valves.
I'm going to have to fix Dubins, that'll take some fancy coding for sure! Haven't used them at all - but I know the problem.Odd you have an offset, that really should not be required at all if everything is in the middle
Last edited by BrianTee; 05-23-2018 at 02:28 AM.