Hi, I would like to build a rover without a steering servo but rather with 2 motors (left+right) for the steering, just like a tracked vehicle.
Is there an ArduRover firmware that supports that kind of setup.
If not, can someone tell me where in the ArduRover code I have to make the necessary changes.
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.
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):
Google: "joystick to differential drive"
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:
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.
The latest ArduRover2 v2.30 alpha code now supports skid steering. Check the Comment Wall for the latest code.