ArduRover User Group

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

Members: 516
Latest Activity: yesterday

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.


Discussion Forum

Brushed esc getting hot when connected to arducopter board

Started by Varunlal V on Thursday. 0 Replies

My Brushed esc getting hot when connected to arducopter board,But its working smooth with the servo tester and motor run both direction and stops so all fine when tested with servo testerwhen esc…Continue

Steering ardurover without servo

Started by Varunlal V. Last reply by Thomas J Coyle III on Tuesday. 1 Reply

can we control the brushed motors using brused esc such that, if we want to reverse the rover, then can we rotate the parallel motors in opposite direction?Continue

Any modification should be made to apm 2.6 with brush ESC?

Started by Ben. Last reply by Varunlal V on Tuesday. 10 Replies

i am newbie to ardurover, and want to build an ardurover from scratch with brush motor. does the APM 2.6 can directly control brush ESC, if not, what is the modification should i made to apm.Regards!Continue

APM 2.6 UGV - 2 motors + chain system + ArduRover/APM control

Started by U Hobbies. Last reply by Siddharth Shivalkar on Tuesday. 3 Replies

Okay, so we're planning our new project, basically a rover driven by 2 motors and a chain/gear system, almost exactly like this: …Continue

Tags: control, APM, motors, 2, 4WD

Comment Wall


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Comment by Adam Scriven on June 30, 2013 at 8:13pm

I haven't yet added the rover brain to my truck, but I'm wondering if the code could handle a couple of interesting features:

1) front and rear wheel steering, in case extra-tight turns or crab-walking is necessary for manoeuvres,

2) DIG (mostly rear wheel), which is the ability to lock the rear wheels from turning, making turns ultra tight.

Also with DIGs, they sometimes include a half-way setting which disengages the rear drive shafts giving front-wheel-drive instead of 4wd, but I'm not sure that would be beneficial or relevant.

Just curious, thanks for the awesome work!

3D Robotics
Comment by Chris Anderson on June 30, 2013 at 7:56pm

And you'll probably want two, so your rover can turn the right way away from obstacles

3D Robotics
Comment by Chris Anderson on June 30, 2013 at 7:55pm

We use the Maxbotix 1240

Comment by healthyfatboy on June 30, 2013 at 7:52pm

Just realized that's an IR sensor. Which ones are you using?

Comment by healthyfatboy on June 30, 2013 at 7:50pm

Oh, and are you using two at the moment or just one? SparkFun has a sale going on for a few more days so I wanted to pick one or two up while I can.

Comment by healthyfatboy on June 30, 2013 at 7:49pm

Quick question. Is this the sonar sensor you guys are using?

Comment by Thomas J Coyle III on June 24, 2013 at 9:36am

Hi All,

Tridge and I have made exceptional progress this last weekend with validation of the L1 version of the ArduRover2 code. There are three critical tuning parameters in the L1 code: NAVL1_PERIOD, TURNING_CIRCLE and TURN_MAX_G.

I measured the turning radius of my Slash rover and found it to be 1.3m. We started testing with the NAVL1_PERIOD at 8 and the TURN_MAX_G at 4. With the NAVL1_PERIOD at 8 there was not enough turn authority and I ended up with the value of that parameter at between 3 - 4. At 3 the rover negotiated tight turns (chicanes) very well, but tended to hunt on the straightaways. At 4 there was no straightaway hunting, but the tight turn navigation was not optimal. I also upped the TURN_MAX_G value to 10 and left it there for the remainder of the testing.

I suspect that the L1 code can be modified to be able to negotiate tight turns, but not hunt on the straightaways. I think that we are very close to being able to release a beta version of the code in the next few weeks.

I also liked the fact that the L1 code made nice sweeping turns around corners compared to the Non-L1 code which tended to turn in short segments around a curve.

More to come.



Comment by Lake McGuire on June 20, 2013 at 1:38pm

TCIII and Tridge,


In the current code, is there a way to make a rover turn more sharply when navigating waypoints?

Comment by Thomas J Coyle III on June 20, 2013 at 1:24pm

L1 testing update;

So far it looks like there still needs to be some improvement in the L1's ability to maneuver through chicanes. In my most recent test the L1 code was not turning sharply enough compared to the non-L1 code. This caused the L1 code to actually make a loop at one of the chicane waypoints to get back on course. As for straight line performance, the L1 code and non-L1 code are neck and neck.

If I had to choose between the two right now, I would have to go with the non-L1 code. Though I am sure that Tridge and I will work the bugs out of the quick turning (chicane) issue during this week's code hacking hangout and next week's test track testing.



Comment by Thomas J Coyle III on June 18, 2013 at 1:39pm

Hi All,

I want to let you all know that Tridge and I are working on incorporating the L1 navigation code into the ArduRover2 firmware. I presently have an alpha copy of the L1 code and plan to test it this week and help Tridge iterate the code to a working beta level that members will be able to test out on their own rovers.

The L1 code is superior to the existing code in that there are quite a few fewer parameters to have to tune to obtain stable rover navigation.

Also, I am working on Tridge's AruRover2 version of the PX4FMU code and plan to run it on a 1/16 Rally chassis that I have recently put together. I would like to run the Rally chassis in the AVC micro class, but Sparkfun will have to increase the qualifying length of the micro class to 12 inches which is only 2 inches more than the original 10 inches. Most quality 1/16 R/C chassis are around 12 inches anyway.:-)




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