Thank you very much Brian.
Looks like I will need a Laptop USB Hub.
Ublox Receiver GPS/RTK corrected input data - AgopenGPS
Brickv2 Heading input data - AgopenGPS
Adruino output data - AgopenGPS.
In a nut shell is this how the system flow goes:
AgopenGPS gets position data from the GPS receiver and Direction/Heading from the Brickv2.
With the AB line set AgopenGPS tells the Arduino the coordinates for the line. Audrino then uses the Steering Angle Sensor and the DOG2 inputs to control the steering valve and then you have a series of parallel lines.
Very new to this and wanting to get a clear understanding of why/how the system works.
It is extremely smooth. Awesome find!
What happens when you shake it side to side?
I would absolutely love it to be able to replace the Dogs2, It works perfectly, its just its big, needs 12v and is $$$$.
Did you try the other filtering modes?
No matter, since it uses gravity, you can mount it inside a steel case and/or in the cab.Weder, cool find. Is this likely to be sensitive to mounting location like the BNO055 or will it be happy as long as it is mounted solidly?
I have been following the work you and Andreas have been doing with the autosteer algorithms. I have to confess though, I am unclear about how the steering is less than optimal. What problem(s) are you trying to solve? Are you trying to stay tighter to the line, are you seeing problems at certain speeds?You want the gain to increase (closer look ahead point) as you get closer to the line. Otherwise you need to drift a long way off the line before you get enough correction steer angle to correct the error. Too much gain while away from the line and you will keep crossing the line, oscillating back and forth. Increase the look ahead time all the way up and you will see it won't track very quickly or closely to the line.
I have been following the work you and Andreas have been doing with the autosteer algorithms. I have to confess though, I am unclear about how the steering is less than optimal. What problem(s) are you trying to solve? Are you trying to stay tighter to the line, are you seeing problems at certain speeds?
#define Inclinometer_Installed 0 // set to 1 if DOGS2 Inclinometer is installed // set to 2 if MMA8452 installed ..... accelerometer.getRawData(&x_, &y_, &z_); roll=x_; //Conversion uint to int if (roll > 4200) roll = 4200; if (roll < -4200) roll = -4200; rollK = map(roll,-4200,4200,960,-960); //16 counts per degree (good for 0 - +/-30 degrees)
like AOG learning how long it takes the steer controller to aquire requested angle and compensating the lookahead. Add oversteer/understeer to suit and maybe a bit of steering brakes if needed. Glad its you, the math would make my head hurt.Since i moved my sensor to the outer tie rod, it works really well. some times the darn trees are in the way to see the forest. bouncing around 10 cm off the line is plenty close for me, let alone the 0 to 2cm like it does now. One thing that needs a bit attention is coming off the Uturn, it can turn wide and take a little too long to come back to the AB line. I think that has to do with the tires doing sideslip and needing a sharper steering angle to compensate for the slippage. Kind of like on a sideslope, you need to turn farther up the hill the steeper the slope.
The Bno is buggy, doesn‘t work at a moving vehicle. The permanent Selfcalibration rattens every try to get a stable Roll. The inclinometer part drifts a lot in a moving vehicle. But heading is best of class