Replies to This Discussion

Permalink Reply by Alain Sutter on November 13, 2012 at 11:02am

Hi Doug,

I'm a software engineer but its hard to dig into the code if you dont know how it is structured.

May be Jean-Louis Naudin who has ported ardupilot to ardurover could help.

Regards,

Alain

Permalink Reply by KM6VV on November 13, 2012 at 11:33am

@Doug,

Yeah, it would be nice if code to do the transpose was built in.  A simple #define or even a parameter could invoke it.

basic algorithm for converting throttle/steering to L & R motor commands:

Lmotor = throttle + steering

Rmotor = throttle - steering

scale as needed.  If steering is reverse, swap the two signs of steering.

You might look on LynxMotion for "rover" code (in Basic):

Lynxmotion

Alan

Permalink Reply by KM6VV on November 13, 2012 at 12:38pm

Google: "joystick to differential drive"

JoystickToDifferential

Alan

Permalink Reply by Corey McGuire on November 19, 2012 at 11:51am

Another avenue is to use an off the shelf - or finding a code snippet - for a "v-tail mixer"

This is, in essence, what these motor controllers are doing.

Here is something I found:
http://arduino.cc/forum/index.php/topic,37638.0.html

Permalink Reply by heliboy on January 18, 2013 at 1:43pm

You can buy a wild Thumper control board. It is set for steer/throttle input to control two built-in motor controllers. You can modify the arduino code to change the mixiing or get rid of it. $ 80 at Sparkfun.

 

- Vijay

AdminPermalink Reply by Thomas J Coyle III on March 19, 2013 at 6:56am

@Alain,

The latest ArduRover2 v2.30 alpha code now supports skid steering. Check the Comment Wall for the latest code.

Regards,

TCIII

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