APMRover 2, a fun UGV project for full autonomous recon missions...

[UPDATE: This project is now being ported to a proper Google Code repository and manual. For instructions, start there. You can also join the ArduRover User Group here.]

Hello to ALL, the new firmware for APMRover v2 has been tested successfully on my rover on may 1st, 2012 on full autonomous reco mission following a navigation plan. This new release of the APMRover v2 works on the APM v1.4 with the OilPan shield (magnetometer + MT3329 GPS) and also of course on the APM v2. The previous version of the APMRover v1.0 was a light size version specially designed for the APM1280 CPU (only) board and the MT3329 GPS.

For the frame, I have used a Traxxas Monster Jam Grinder with a brushed and high power motor Titan 12T and its XL-5 ESC.

The APMrover UGV is able to run itself following a list of recorded waypoints. The waypoints list (FPL) can be preloaded with the APM Mission Planner OR better in live, recorded by the pilot himself (with the SW7) during a manual run and then replayed in a full autonomous mission.

The firmware APMrover2 for APM v1 + OilPan or APM v2 successfully tested can be downloaded HERE

The APMrover v2 is also online on the official ArduPilot-Mega GIT repository HERE

Below the PID setup for the APMrover v1 and v2:

The light firmware APMrover1 for APM v1 (CPU 1280 or 2560) that I have tested can be downloaded HERE

Here's how to connect your cables:

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Have Fun and Enjoy with the APMrover...

Regards, Jean-Louis

Hi Thomas,

That’s what I’ve been doing, studying the 4907 exploded views. I don’t need all the chassis parts, I just need to complete the wheel and suspension. Some of the parts are cheap enough, and I’ve finally figured out some of the “missing” parts. I.E., the little hex wheel hub.

Now to figure out exactly what I want to buy; and what I want to machine. I can buy the bulkheads, and simply bolt them up to my aluminum chassis. I’ll mill a connector to the drive shafts. A couple of pulleys, belts and shafts aren’t hard to work out. I do a lot of that.

You’re right, a lot to do none-the-less before next year’s Robogames. My son (partner) only wants me to work on the drive electronics, and just use the Hummer H2 toy chassis. It will be quick and dirty to get running, although a paradigm shift from Ackerman steering (which might be OK) to skid-steering with a pair of drive motors and four driving wheels. The little motor in the Hummer draws just a little too much for the SN754410 driver chips on the Arduino motor shields I already have. It drives them at no load. I might double up the chip. Just for testing. I also bought a pair of LMD18200 drivers. They work great, even for my full sized IG42 gear motors with encoders! However they want 12 V or so minimum, and the 9.6 V battery for the Hummer motor isn’t enough. I’ve got a 15 A RoboClaw dual motor driver on order. That could work for either build.

Did you find a particularly good vendor for the Trexx parts?

Alan

You need to be a member of diydrones to add comments!

Join diydrones

Comments

Wesley Chuen May 29, 2012 at 4:08pm

The motors are like these: http://www.ebay.com/itm/INVACARE-WHEELCHAIR-4-POLE-MOTORS-WHEELS-CH...

I got mine locally.
Wesley Chuen May 29, 2012 at 4:05pm

Hehe. But mine runs on two 400W 24V motors, and carries a 21" gas mower that can mow lawn. :D
Admin

Thomas J Coyle III May 29, 2012 at 2:12pm

@Chris,

You need a Traxxas E-Maxx with the CC Monster Mamba ESC and NEU brushless motor like I have. LOL.

Regards,

TCIII
Wesley Chuen May 29, 2012 at 12:04pm

The lawn bot is entirely DIY. Just 2 motors directly connected to the wheels (seperately), a motor driver/shield, and a Arduino. When I want it to go straight, I apply the same power to both motors. When I want it to go left, I slow down the motor on the left.
KM6VV May 29, 2012 at 11:55am

Differentially steered?

Alan
Wesley Chuen May 29, 2012 at 11:54am

I'm putting together a lawn bot using Arduino. Since it uses 2 separate motor instead of a steering servo, does APM Rover support that kind of config?
KM6VV May 29, 2012 at 11:17am

Hi Thomas,

That’s what I’ve been doing, studying the 4907 exploded views. I don’t need all the chassis parts, I just need to complete the wheel and suspension. Some of the parts are cheap enough, and I’ve finally figured out some of the “missing” parts. I.E., the little hex wheel hub.

Now to figure out exactly what I want to buy; and what I want to machine. I can buy the bulkheads, and simply bolt them up to my aluminum chassis. I’ll mill a connector to the drive shafts. A couple of pulleys, belts and shafts aren’t hard to work out. I do a lot of that.

You’re right, a lot to do none-the-less before next year’s Robogames. My son (partner) only wants me to work on the drive electronics, and just use the Hummer H2 toy chassis. It will be quick and dirty to get running, although a paradigm shift from Ackerman steering (which might be OK) to skid-steering with a pair of drive motors and four driving wheels. The little motor in the Hummer draws just a little too much for the SN754410 driver chips on the Arduino motor shields I already have. It drives them at no load. I might double up the chip. Just for testing. I also bought a pair of LMD18200 drivers. They work great, even for my full sized IG42 gear motors with encoders! However they want 12 V or so minimum, and the 9.6 V battery for the Hummer motor isn’t enough. I’ve got a 15 A RoboClaw dual motor driver on order. That could work for either build.

Did you find a particularly good vendor for the Trexx parts?

Alan
3D Robotics

Chris Anderson May 29, 2012 at 11:11am

Robert: good guess! I'm just testing it on a toy RC off-roader I got at garage sale (I'm not even sure of the brand). I've got a 1/8th scale rock crawler as well, but it's not as fast as the smaller vehicle so I may not use it for the contest.
T3

healthyfatboy May 29, 2012 at 9:56am

Hmmm...does it have to do with the state of Colorado? My guess is yes!
Rob_Lefebvre May 29, 2012 at 9:51am

I just realized this morning why Chris is working on this now. :)

What vehicle do you have it mounted on Chris?

of 77

This reply was deleted.