Comment by John Hestness on June 15, 2012 at 4:38pm

@Alan, Rasberry Pi is out.  Maybe that could run it. Weight is a couple ounces, power is 5v at 700 mA, price $35, runs linux, size looks not much bigger than APM1.

Comment by KM6VV on June 15, 2012 at 5:10pm

@John,

Hi John, I'd heard it was coming out, but hadn't kept up on it.  I wasn't planning on such a fancy sensor when I started on the Robomagellan project (was just going to use a few Arduinos), but if the LIDAR continues to be available, then that might be the solution!

Thanks,

Alan

Comment by Cody O. on June 15, 2012 at 8:19pm

Jean-Louis,

I got my rover to follow waypoints today!  I had to reverse the leads to the motors since it kept trying to back away from the waypoints.

I'm controlling through a game controller instead of a remote control, so all of my slider axis return to center.  This makes it difficult to utilize your ch 7 and ch 8 functions.  I'm going to try to modify the code to use the buttons on the game controller instead of a slider.

Great job!

Developer Comment by Jean-Louis Naudin on June 15, 2012 at 10:13pm

Hello Cody,

I am glad to see that you have succeed in following waypoints with the APMrover. Congratulations !!!

Regards, Jean-Louis

Comment by Rob on June 16, 2012 at 3:27am

Hi, a lot has changed since the start of the thread. Could the first post be edited so it is up to date and also includes a shop where to get the Sharp sensor? I've been following it from the start and got my own car (had to sell my apm2 to some university students, they needed it harder and new one is on the way for me) but still lost track of all that has changed.

3D Robotics Comment by Chris Anderson on June 16, 2012 at 6:12am

Hello from the Sparkfun Competition, where I'll be competing with this today!

Here's a bunch of useful tips that we'll put in the formal ArduRover documentation soon:

You can get the Sharp IR distance sensors here (get this cable, too).

If you're using the APM 1 IMU shield, you can solder the IR sensor wires to these pins (A0, V+ and GND):

Enable the Sharp IR Sensor by checking the "Sonar" check box in the Mission Planner setup. Also don't forget to calibrate your compass with the "Live Calibration": just click the box, click OK, and point the rover to the four points of the compass and up and down, each for a few seconds, until it tells you that's it's done. 

Set this distance you want it to trigger it from the Parameter list:

You can test it by looking at the Mission Planner telemetry monitor window (this only works on the USB port; it will not work on the Xbee/3DR radio port):

3D Robotics Comment by Chris Anderson on June 17, 2012 at 7:33am

Good news from the Sparkfun competition: ArduRover successfully completed the course in the third round! I had a really slow rover, so there was no chance of winning, but it was a perfect run, hitting five waypoints precisely with no weaving in-between. 

A few observations/lessons:

1. I had to turn off the Sharp IR obstacle detection. Too many false positives. I think we should change the code to require at least two or three readings inside the target distance before the obstacle flag is set. I know this will slow detection a bit, but we need some kind of filtering.
2. I can't get the CLI to work in the current ArduRover code, so I can't download my logs. I'm using an APM 2560, so I should have plenty of memory for this. JLN: do you know why it's not working?
3. The soon-to-be-released 3DR uBlox 6 worked great. It's a must-have for rovers, and much better than the Mediatek for ground applications.
4. Most of the other rovers at Sparkfun were not using a magnetometer. Instead, they just use the GPS vector and a gyro to maintain heading. JLN: for people using the APM with the IMU shield, is the gyro used to maintain heading? If so, what additional advantage is given by enabling the magnetometer? 

Comment by MVeloso on June 17, 2012 at 8:27am

Yesterday I did some tests with my "Urban Rover".

Full APM V1 (Oilpan + GPS MT3329 + Magnetometer HMC5883L)

No sonar.

Firmware APMrover v2.16a JL Naudin.

The WP were saved using learning method.

The vehicle missed the points(saved WP) 1 to 3 meter.

And  sometimes she passed thorough  the same points . Close to the saved ones !

I have a video:

http://www.youtube.com/watch?v=3CTdpaKKxS0&list=UUd-wyMorRD2QZo...

Comment by TFrancis on June 17, 2012 at 8:49am

DIY community,

  Working on ArduRover v2 with APM2. I have the ArduRover2 code loaded on the APM2 and I connected the servo motor to Out1 and the ESC to Out 3. I'm still waiting on servo cables to connect the receiver to the inputs. But while I'm waiting I want to see if I can get the darn thing to move or wiggle or something. With Mission Planner I have connected the Computer>APM>Rover and I set waypoints but nothing happens.

A lot of the ArduPlane instructions for the Mission Planner seem to be Aircraft specific so I can't tell what functions I would use for the rover.

*The Mission Planner is currently set to "reset APM on USB connect". Does that clear just my waypoints or my ArduRover code? I would think just waypoints but nothing is working so hey doesn't hurt to ask

Any help or suggestions would be very helpful

Developer Comment by Jean-Louis Naudin on June 17, 2012 at 10:12am

Hello Françis,

The APM 2 need to be powered to 5V DC through the servos output of the APM. Does you have been able to do a calibration of your radio with the planner ? This is required to get the output.

For more infos about the calibration process, look at:

http://code.google.com/p/ardupilot-mega/wiki/APM2ReversingTop?wl=en

Check also if the PPM strap is set properly:

Good tuning,

Regards, Jean-Louis

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