ardurover - Blogs - diydrones2024-03-28T20:56:24Zhttps://diydrones.com/profiles/blogs/feed/tag/arduroverArduRover Skid Steeringhttps://diydrones.com/profiles/blogs/ardurover-skid-steering2021-05-28T11:16:12.000Z2021-05-28T11:16:12.000ZJohar Palacitahttps://diydrones.com/members/JoharPalacita<div><img src="https://storage.ning.com/topology/rest/1.0/file/get/8997922871?profile=RESIZE_400x&width=400"></div><div><p>Hi, I'm building ArduRover with Skid Steering, The platform are base of DFROBOT Pirate 4WD and using 2 DC Motor L298N</p><p><a href="{{#staticFileLink}}8997855656,original{{/staticFileLink}}"><img class="align-center" src="{{#staticFileLink}}8997855656,RESIZE_710x{{/staticFileLink}}" width="710" alt="8997855656?profile=RESIZE_710x" /></a></p><p> </p><p>I'm using the firmare for Pixhawk 1 (fmuv3)</p><pre><a href="https://firmware.ardupilot.org/Rover/stable/fmuv3/" target="_blank">4.0.0-FIRMWARE_VERSION_TYPE_OFFICIAL</a><br /><br />and according the ardupilot docs for <a href="https://ardupilot.org/rover/docs/rover-motor-and-servo-configuration.html" target="_blank">Rover</a><br />My config for CH1 and CH 3 are</pre><p>For “Skid steering” vehicles (like R2D2) these parameters values will need to be set:</p><ul class="simple"><li><a class="reference internal" href="https://ardupilot.org/rover/docs/parameters.html#servo1-function"><span class="std std-ref">SERVO1_FUNCTION</span></a> = 73 (Throttle Left)</li><li><a class="reference internal" href="https://ardupilot.org/rover/docs/parameters.html#servo3-function"><span class="std std-ref">SERVO3_FUNCTION</span></a> = 74 (Throttle Right)</li></ul><p>Actualy its depend on your wiring setup at L298N for direction</p><p><a href="{{#staticFileLink}}8997883685,original{{/staticFileLink}}"><img class="align-center" src="{{#staticFileLink}}8997883685,RESIZE_710x{{/staticFileLink}}" width="710" alt="8997883685?profile=RESIZE_710x" /></a></p><p>Here is the schematic of how I wiring it.</p><p><a href="{{#staticFileLink}}8997885267,RESIZE_1200x{{/staticFileLink}}"><img class="align-center" src="{{#staticFileLink}}8997885267,RESIZE_710x{{/staticFileLink}}" width="710" alt="8997885267?profile=RESIZE_710x" /></a></p><p>The ENA and ENB jumper was remove.</p><p>For skid-steering vehicles like the <a href="https://www.dfrobot.com/product-97.html" target="_blank">Pirate 4WD from DFROBOT</a><br />Set MOT_PWM_TYPE = 3</p><p><a href="{{#staticFileLink}}8997896266,original{{/staticFileLink}}"><img class="align-center" src="{{#staticFileLink}}8997896266,RESIZE_710x{{/staticFileLink}}" width="710" alt="8997896266?profile=RESIZE_710x" /></a></p><p>In my transmitter when throttle is zero the the ch1 push left a quarter, it will rotate the rover to left (left wheel stop - right wheel move) and also the opposite. But if push full it will move fast forward.</p><p>If the ch 3 push half more (55%) it will move forward slowly. I'm still setup some parameters for smooth moving.</p><p> </p></div>