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

@Thomas,

How is the steering implemented on your Traxxas (MINDS-i)? I'm considering 4-wheel steering, as I think I mentioned. I have the linkage to the servo, and the turnbuckles, but I don't see how the turnbuckles link up to the draglink (the chassis will be even wider on my 'bot).

Also, with the suspension, the turnbuckles must also be able to pivot at the same place as the suspension bottom wishbone (suspension arms). I see it for the "rear", where the turnbuckles bolt up to the bulkheads, but not in the case of the steerable front end. Do you have a good pix (I've looked) or an explanation?

I've studied the exploded chassis an front views of the 4907, but I'm missing something.

Thanks!

Alan

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

Join diydrones

Comments

John Hestness 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.
KM6VV June 15, 2012 at 2:34pm

Anyone using LIDAR?

How about the Hokuyo URG-04LX-UG01?

Probably needs a PC to run it. I'm just getting my hands on one.

Alan
KM6VV June 15, 2012 at 2:30pm

@Thomas,

I've bought a pair of 2070 servos, it's probably the non-waterproof version of the 2075s. Haven't received them yet. It's getting hard to keep track of my bids!

Best Regards,

Alan
Admin

Thomas J Coyle III June 15, 2012 at 1:24pm

@Alan,

I bought the Traxxas E-Maxx waterproof servos off of eBay for $18.99 each plus shipping. I do not think that the price was too bad for waterproof servos of that size.

Regards,

TCIII
KM6VV June 15, 2012 at 9:34am

@Thomas,

OK, I see that now. I downloaded the Traxxas E-Max 3908 exploded views. Too bad I didn't see the dual servos earlier. Although I guess I could always get them, two steering sets don't cost that much. The servos add up, tho!

Thanks!

Alan
Admin

Thomas J Coyle III June 15, 2012 at 4:04am

@Alan,

The assembly you see in the picture is the dual servo linkage. If you look closely at the linkage in the foreground of the picture you can see the two arms that are perpendicular to the front cross bar that mount on the dual servo horns in the E-Maxx.

Regards,

TCIII
Ben Schmidtke Jr June 15, 2012 at 3:35am

Clearing the memory didn't solve the problem. That was with rover 20b. I fell back to rover 10f, and it comes up and talks to the mission planner. Not quite sure what the problem was.
KM6VV June 14, 2012 at 7:45pm

@Thomas,

Yeah, I've got that image as well, it matches what I've bought. It's for 4907 single servo, right? I figured out that the draglink (in background) is only about 1" long, which matches the length between the two bulkheads in a TRAXX. In my 'bot, that distance is increased to about 5", so I need to make up a new draglink.

You have a 4908? I would like to see the dual servo linkage. Although I've already bought the 4709 parts. I could probably use the extra torque! Although I will have 4-wheel steering.

Thanks!

Alan
Admin

Thomas J Coyle III June 14, 2012 at 6:40pm

@Alan,

My Traxxas E-Maxx has dual steering servos up front with a servo saver as part of the linkage between the two servos. I wish that I could send you a picture, but I am still in TX and the E-Maxx is in Florida. I am attaching a picture of the chassis showing the front suspension and steering linkage, but it is upside down. The assembly in the front of the picture goes between the servo horns and contains the top half of the serov saver while the assembly in the back part of the picture is the bottom part of the servo saver and linkage to each front wheel.

Regards,

TCIII
KM6VV June 14, 2012 at 1:17pm

@Thomas,

How is the steering implemented on your Traxxas (MINDS-i)? I'm considering 4-wheel steering, as I think I mentioned. I have the linkage to the servo, and the turnbuckles, but I don't see how the turnbuckles link up to the draglink (the chassis will be even wider on my 'bot).

Also, with the suspension, the turnbuckles must also be able to pivot at the same place as the suspension bottom wishbone (suspension arms). I see it for the "rear", where the turnbuckles bolt up to the bulkheads, but not in the case of the steerable front end. Do you have a good pix (I've looked) or an explanation?

I've studied the exploded chassis an front views of the 4907, but I'm missing something.

Thanks!

Alan

of 77

This reply was deleted.