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ArduRover User Group

Dedicated to the exchange of useful information between members using the Arduino or other families of processors for autonomous rovers.

Members: 419
Latest Activity: 1 hour ago

Before Posting an Issue

Hi All,

Before posting an issue or a problem in the ArduRover Discussion Forum, please check the wiki table of contents, review the firmware release notes in the subforum, and search that subforum for existing answers to your question. Help avoid duplicate threads by finding other members with the same issue and their solution.

When formulating your post, use a descriptive title such as "rover will not navigate to waypoints in the Auto mode" (not "HELP!" or "Problem").

Please include the following information to help diagnose your query:

  • Describe the problem you are having. What is the expected verses the observed behavior?
  • Provide hardware information such as the brand and version of your autopilot, GPS, radio, and compass, as well as any other pertinent details about your rover setup.
  • What version of the APM: ArdurRover2 firmware version are you running?
  • For navigation issues, provide your tlog and/or dataflash log. Click here for instructions on retrieving a dataflash log.

TCIII

Discussion Forum

APM 2.6 Collegiate Competition Function Question

Started by Zach Etier. Last reply by Grant Morphett 1 hour ago. 2 Replies

Hello DIYDRONES,I am a senior in mechanical, and aerospace engineering. For our senior design, my team has designed a pylon racer that air drops a 1/16 scale car. We get a score bonus if our team…Continue

Error: command rejected by MAV when clicking Arm/Disarm

Started by Tony Holt. Last reply by Tony Holt 20 hours ago. 2 Replies

Hi and thanks in advance to anyone who can assist.Kit will be going into a RC boat but will use Ardurover and is currently mounted on a plank.Kit is 3DR PixHAwk, 3DR Ublox GPS, 3DR radio, Spektrum…Continue

Tags: MAV, rejected, Error

APM:Rover Release 2.48 is OUT!

Started by Grant Morphett. Last reply by mb300sd yesterday. 16 Replies

Hi everyone.  The ardupilot team is delighted to announce the release of version 2.48 of APM:Rover. In case anyone needs to manually download the beta release its here -…Continue

Mission (not) Reset

Started by LoopZilla. Last reply by LoopZilla Mar 25. 4 Replies

Hi,I posted the following on the Tower (DroidPlanner) Git issue forum, and received a reply that this may be an ArduRover issue, rather than an OCU software issue.  Interestingly, when I use…Continue

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Comment by Thomas J Coyle III on February 16, 2014 at 6:00am

@Bruce,

You can probably use the Saberthooth 2X12 ESC as I have a homebrew 6WD rover that has bigger motors and I used a 2X12 and have not had any issues using that ESC.

@Michael,

If my client wanted to go to a more powerful chassis that would require more motor current handling capability, the 2X25 ESC is a future proof investment.

@Antione,

The Manual Mode is pass-through, however you could use your transmitter's throttle exponential mode to help reduce a fast start. There is also the Steering Mode that applies the Auto Mode steering and throttle parameters.

Regards,

TCIII ArduRover2 Developer

Comment by Antonie Kruger on February 16, 2014 at 4:12am

Michael, OK, thanks - will do. I suspect you are right in the MANUAL mode pass-through, but I'll check anyway.

I still have the wild thumper controller board between the APM and motors with a arduino processor. I can implement a low pass filter there or implement some sort of throttle softening - Ramp Speed implementation.

Thanks for your help and suggestions.

Comment by MikeRover on February 16, 2014 at 4:02am

Antoine, the "philosophy" of MANUAL mode appears to be a direct pass-through.

 

STEERING mode may apply ramping, but I'm not sure.  You can bench test it easily enough - just set SPEED2THROTTLE_P, I and D to zero, and watch what happens as you push throttle up.

Comment by Antonie Kruger on February 16, 2014 at 3:31am

Thanks Michael - do you think it would be possible to implement policing/managing of the MANUAL mode inputs to soften the outputs as AUTO would do?

Comment by MikeRover on February 16, 2014 at 3:15am

Antoine, I forgot there's also a throttle ramp rate in APM:Rover you can use. That should be easier than any kind of filter and you can then do your necessary settings on the Sabertooth with DIP switches only.

 

The only downside is that the throttle ramp in APM only applies to AUTO mode - you can still hurt the motors in MANUAL mode. 

Comment by Antonie Kruger on February 16, 2014 at 3:08am

Hi Michael, thanks - Ramp Time is what I'm after.

It just occurred to me that applying a low pass filter on the output lines with a adjustable cutoff rate will have the desired effect. The lower the cutoff, the less rapid the change in output.

Comment by MikeRover on February 16, 2014 at 2:42am

@Bruce, the current ratings are at 25C, and they de-rate from there. From the specs, it looks like the motors shouldn't pull more than 7A, but if your chassis is enclosed, or you're somewhere where the ambient temperature is 30+C, the extra margin may be useful. I'd assume Thomas went for the 25s for a reason, unless he had it lying around.

 

@Antoine, the Sabertooth can do ramping internally, but you need the DEScribe software and DELink USB converter to set it.  I don't know if you can substitute another USB/serial converter.

 

"Ramp Time

This is the time the driver takes to go from full reverse to full forward or vice versa. High ramp rates give a slower-acceleration, softer feel."

Comment by Antonie Kruger on February 16, 2014 at 2:21am

HI Guys, thanks TC3, great job. Would you be porting the skid steer implementation to the APM2 boards? I have a few questions that I need some help with. I have a wild thumper 6wd chassis with the wild thumper controller board. I fitted my apm2 board with telemetry.

Q1. When the controller is instructed to apply 50+% speed to the motors from 0, a lot of stress is placed on the gearboxes in the motors. It is not long before the drive gear in the gearbox strips. Would it be possible to manage the application of power to the motors over a longer period. I'm not sure if I'm explaining this right. The effect I'm after is : When I instruct 100% power forward the controller should not apply 100% immediately. It should accelerate from 0 to 100% over a time period to reduce the torque forces on the gearboxes to lengthen the life of the hardware.

Q2. Does anybody know of better quality motors for this chassis or just gearboxes. The stock boxes sucks. Seems like the gears are mild steel or cast iron. Real cheap crap.

Q3. Can the APM2 rover software take a NMEA string from a serial port for navigation. The reason for asking is that I use a robotic survey instrument to lock onto a 360 prism mounted on the rover. From here I transmit the coordinate to a FEZ Cerb40 netmf board that translates the coordinate into the needed NMEA strings, alternatively using a RTK GNSS receiver mounted on the rover to feed the needed NMEA strings to the controller.

Thanks,

Antonie

Comment by Bruce D. Sidlinger on February 16, 2014 at 1:39am

Beautiful, and I was just tonight ordering that chassis, the high gear ratio (low speed) version. Question, would this controller have been enough, do you think? http://www.dimensionengineering.com/products/sabertooth2x12rc

Comment by Gary McCray on February 15, 2014 at 10:02pm

Really clean install TC3 how do you like Wild Thumper?

 
 
 

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