I'm happy right now. Was able to use my AgOpen setup over the last 2 days to do the steering while planting corn. First field was a bit rough as I was trying to get everything tuned in an set up right. After some tuning of the steering parameters, I've been very happy with it. The Auto U-turn is the best feature as all I have to worry about it raising the planter (manual SCV's) and downshifting to make it less bumpy.
The Basics of my setup:
New Holland T6030 with White 6 row planter
F9P-C099 Ublox evaluation board and antenna , getting RTK corrections through AgOpen from the Ohio CORS
Lenovo Flex 14 w/Touchscreen
Phidgets 3269-3 motor
Cytron 30A motor Driver, fed via a 12 -> 24 V step-up convertor
Delphi ER10031 wheel angle sensors, feeding into ADS1115 mounted inside the cab.
Proximity switch wired in for the work switch ( need to rethink this as it's too easy for a bump or little variation to create enough movement to turn it off)
24V - 5V converter to power the Arduino and GPS
USB hub, a bunch of misc wiring and a project box to mount it all in.
When said and done, I only have one USB wire running into the computer.
It's amazing what the parts feeding into AgOpen can do. The F9P is rock solid and I was able to run for ~8hours without any issues in the code.
A few things I did learn:
1. It's important to have good, clean boundaries. I made the boundaries as I was planting the opening rounds. The corners got a little funky where I had to pause, turn and restart. This affected my u-turn boundaries for a couple turns near the corners.
2. It's important to get the right filtering on the roll and autosteer. At first, I tried to have very minimal roll filtering and it was just chasing itself. My tractor is not huge, so it naturally bounces around going down the field. As I increased the Kalman filtering, it started workgin much better to take out the 'field noise' and just compensate for the macro tilt.
3. Same with autosteering settings. Getting them right (and I'm probably not there yet) takes some time.
4. I need to get a better work switch configuration as it was too sensitive. I liked the idea of a no-moving parts prox. Need to see if I can get one that has a bigger sensing distance as the one I have need to almost have the tip touching metal. Any air gap and it will turn off.
5. Id' like to find a motor without gear reduction. There are a few times, like when maneuvering at the field opening corners or going to refill fertilizer that it would be better to be able to just turn the wheel with leaving the motor engaged. The gear reduction puts a lot of resistance and makes that not real practical.
Here's a couple short video clips from last night.
following the A-B line:
U-turn at the end of the field in the dark: