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projects:ideas:jd [2013/04/09 14:19] claes [Implement steere by wire] |
projects:ideas:jd [2021/08/14 04:21] (current) |
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The goal is to control the steering via the CAN-Bus on the tractor. | The goal is to control the steering via the CAN-Bus on the tractor. | ||
+ | ===== Control of all tractor functions via CAN-Bus ===== | ||
+ | We need to be able to control all functions of the tractor via the CAN-Bus. If the functions is not implemented, | ||
+ | * CVT | ||
+ | * RPM | ||
+ | * Steering | ||
+ | * Light | ||
+ | * Horn | ||
+ | * Front and rear hitch | ||
+ | * 2WD/4WD | ||
+ | * ... | ||
+ | The next step is to connect a computer with control software(MobotWare/ | ||
- | ===== CAN Interface | + | ===== Implement odometry on the tractor |
- | Connect a computer running MobotWare to the CAN-Bus and establish connections. | + | Sensors for the selected kinematic model; either Ackermann or Bicycle (currently the bicycle model are beeing used). We need |
+ | * Steering angle on both front wheels. | ||
+ | * Encoder on all drive-wheels or the shaft. | ||