Skid steering and turning on a dime

Posted by RoboBill on March 9, 2014 at 10:09pm

Is there any trick to get a rover to turn about its middle. I've set the skid steer IN to 0, the skid steer OUT to 1 and the steer2srv_p to 1/2 the distance between my drive wheel. It drives OK but I can't make the rover turn hard on the spot.

Thanks

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Replies

  • Admin
    Thomas J Coyle III March 10, 2014 at 6:04am

    @RoboBill,

    Are you referring to making a pivot turn when in the Manual Mode? If you are, then STEER2_SRV P has no affect on the steering in the Manual Mode.

    However in the Auto Mode the PIVOT_TURN_ANGLE parameter can be used to set the steering angle at which a pivot turn will be initiated by the FC. This parameter does not work in the Manual or Steering Modes.

    I suggest that you try experimenting with the PIVOT_TURN_ANGLE parameter.

    Regards,

    TCIII ArduRover2 Developer

    • RoboBill > Thomas J Coyle III March 10, 2014 at 8:34am

      Thanks for the guidance.... but sorry I can't find pivot_turn_angle in mission planner (1.2.97 nor AP Planner 2) full parameter list. So I gather its set through the terminal. If so is there a link you can forward to show me how to set this parameter.

      Thanks

    • Admin
      Thomas J Coyle III > RoboBill March 10, 2014 at 8:50am

      @RoboBill,

      I thought that Tridge had pushed the firmware with the pivot_turn_angle parameter into the standard MP Rover download location.

      You can find the latest APM/Pixhawk ArduRover2 code here: Rover latest

      PX4 v2 is the latest Pixhawk code; PX4 v1 is the latest PX4 code.

      You can experiement with the pivot_turn_angle by changing the number of degrees.

      Regards,

      TCIII ArduRover2 Developer

    • RoboBill > Thomas J Coyle III March 10, 2014 at 2:03pm

      TA-DAA  yep that did it. And experiment is the word..  what fun!

      Correct if I'm wrong with this observation...If I set the pivot_turn_angle to 90, the rover will turn the total angle required minus 90. If this is true it would be nice if there was a parameter that allowed the turn to be completed on the spot.

      Bill

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