Dedicated to the exchange of useful information between members using the Arduino or other families of processors for autonomous rovers.
Hi All,
Before posting an issue or a problem in the ArduRover Discussion Forum, please check the wiki table of contents, review the firmware release notes in the subforum, and search that subforum for existing answers to your question. Help avoid duplicate threads by finding other members with the same issue and their solution.
When formulating your post, use a descriptive title such as "rover will not navigate to waypoints in the Auto mode" (not "HELP!" or "Problem").
Please include the following information to help diagnose your query:
TCIII
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Hi, i am looking to build a new rover, but i need some advice on the chassis. I like the 4wd chassis/tank look and prefer it over the crawler/rc look.are those any good though? most people recommend crawlers.I am looking to get something from banggood, any advice will be highly appreciated. thanks
Read more…Hi all, I have a skid steer robot using a pixhawk cube, one 1x15 roboclaw motor controller and a dagu wild thumper 4 wheel chassis. I have skid steering working so far, testing motor c and motor d tests works as described and the vehicle can be controlled in manual mode. However, upon using any mode other than manual mode the rover wants to shake and pivot on the spot, and it seems the steering PID controller oscillates and these oscillations get larger. i have tried everything but it is still…
Read more…Hi,I have converted a Traxxas X-Maxx into a rover using the Pixhawk Cube 2 controller kit with a Here GNSS.I swapped out the original X-Maxx remote controller for an X6R receiver and Taranis QX7 radio.latest version of ArduRover firmware installed as of 8/11/18. The rover has an EZRun Max6 ESC. The problem now is the ESC control over the transition into reverse. The ESC is currently set to it's Running Mode Option 2: "Forward/Reverse with Break", AKA the "Double Click Method".What this mode…
Read more…Hi all.I know this is an Adurover group, but Thought I would reach out and try my odds for some help as I'm perplexed by this problem. I have a Traxxas X-Maxx set up with a Pixhawk Cube 2.1 and the Here GPS. I'm using a Tarranis X7 remote controller and a X8R Sbus Receiver. I'm using QGroundControl with the latest, Pixhawk 1.8.0 Firmware with the Generic Rover airframe profile installed. As instructed, I have Steering servo wired into Main 2 and Throttle ESC wired into Main 4. Sensors are…
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Comments
@Jared,
Really nice design, stairs are a serious problem, great solution.
I am looking at similar electronic design to yours and am hoping to use PX4 as controller although it is a bit light on IO.
Another interesting possible option that I am also considering is a USB multiaxis (up to 9 axis) CNC controller from Planet CNC, they have a ton of IO and are set to handle Steppers (which I plan to use) as well as encoder feedback.
I am thinking of using Fit PC2i in same location as yours (with Kinect) although there are some other SBPCs I am looking at too.
The APM2.5 has quite a large amount of general purpose IO, but the APM software may not be ideal for you.
The PX4 supports the APM software, but it also independently supports ROS which would probably be better and easier to integrate with your FIT.
The Planet CNC controller has its own CNC G-code interpreter built in but comes with an SDK that will let you dial your own responses.
Here's a copy of their manual:
http://www.planet-cnc.com/files/CNCUSBController.pdf
The biggest problem I see is that you really need to combine the capabilities of Windows, Ubuntu Linux and ROS (at a minimum) to make this a reasonable undertaking.
@ John
What PID are you talking about? Heading2Steer ?
Could you please post your all values?
And what APM are you using?
Thank you.
Regrads.
MV
I have been testing my slash based rover for a few weeks now. One issue that I had was significant oscillation in the steering control (turning quickly left and right). Today I tried setting the D (derivative) of the two steering PID control loops to zero. Instantly the problem was solved. It is way better. Then I slightly increased the P and I and it is better still. This is starting from default settings. It is not often that I see a huge and immediate improvement from such a simple change. It was awesome to see my rover behaving exactly the way I thought it should.
Jared,
It depends on what data you want to get out of it. If you want full autopilot functionality, you're better off with APM 2.5. ArduIMU is an older product and is no longer being actively developed.
But if you just want attitude data, ArduIMU works fine.
@ Thomas
thank you for the information.
I have just trim my buggy!
My goal is to have a moderate speed and good navigation.
Regarding navigation I saved the points 3 days ago and did all the tests with same points.
The precision differs from 30 cm to 2,5 meters. It depends on weather conditions.
For driving, speed and heading this are my PID´s :
Plus:
AHRS_COMP_BETA
0,003
AHRS_RP_P
0,37
AHRS_YAW_P
0,39
For more details about my Rover(buggy) :
https://www.youtube.com/watch?v=5lSX4837gPg
Turnigy also makes a servo reverser and if I remember correctly, it will slow down the servo as well so if you use 3 Y cables, one would split front and back servos, another splits the two fronts, and the other goes to the reverser. The reverser should allow for two servos to run off the one signal.
Here's the link.
http://hobbyking.com/hobbyking/store/__8863__Turnigy_3_Channel_Serv...
@Tom,
I thought about that as well. Looks like it will be a fun filled weekend :-).
....Mike
That's what I just found out as well TC.
I'm going to look at modifying the APM code to output a mixed PWM signal on one of the unused output ports that can be used to steer the rear wheels.
..Mike
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