Does ArduRover Support 6-Wheeled Rocker-Bogie Vehicles?

Posted by Doug Walmsley on December 16, 2015 at 7:57am

Hi,

Building a 6-wheeled rocker-bogie vehicle that Ben posted back in September (http://diydrones.com/profiles/blogs/introducing-the-nomad-working-title?xg_source=activity).

I'm new to land ROVs and wanted to know if APM or Pixhawk and the code support 6 drive motors and 4 wheel steering servos?  And what additional hardware I would need to make it work. 

Thanks,

Doug Walmsley

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Replies

  • Developer
    Grant Morphett December 16, 2015 at 5:27pm

    At the time of writing 4 wheel steering isn't implemented.

    Thanks, Grant.

    • Doug Walmsley > Grant Morphett December 17, 2015 at 9:35am

      Ok thanks.  I guess this puts a halt to my build as I'm not a software developer and this type of power train and steering is outside my skill level.  Is there a chance someone could develop code for this design?

    • Developer
      Grant Morphett > Doug Walmsley December 17, 2015 at 5:35pm

      I don't have the capability to print one of these designs so I can't test any code.  I sponsored the wrong kickstarter campaign to get a 3D printer and lost my $2000.

      However, a "get it up and running" hack could be possible for you.  At first I thought if you plug all the servo's into the same channel using a gang of Y cables you might get lucky and they all move in the correct direction when you steer. 

      Alternatively I could add RC#_FUNCTION of steering.  This means you could plug the servo's into channel 4,5,6,7 for instance and designate each one RC#_FUNCTION of steering.  That way if one of the servo's needed to move in the other direction you can reverse it with the RC#_REV on that channel.  That would be relatively easy.

      Thoughts?

      Thanks, Grant.

    • Anders Wikstrom June 29, 2016 at 1:50pm

      I have seen your pictures and the movie. How do you intend to steer?

      If your rover can use skid-steering all you have to do is connecting all motor on each side to the same output. For DC-motors you can have one driver and connect the motors in parallel or send one output to three drivers with the same result.

      If you need to "bend" the rover to steer and use DC motors I'd experiment in connecting a DC motor between the drive for the left and right side in the way that is gets the difference in voltage. I have not tried this but it should work.

      My 4 cents

      Anders

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