To control the tractor via software we need to implement an electrical steering. In the course ALV a group has suggested different solutions for this project, we suggest to follow their recommandations.

The goal is to control the steering via the CAN-Bus on the tractor.

We need to be able to control all functions of the tractor via the CAN-Bus. If the functions is not implemented, it has to be implemented.

• CVT
• RPM
• Steering
• Light
• Horn
• Front and rear hitch
• 2WD/4WD
• …

The next step is to connect a computer with control software(MobotWare/FroboMind) to the CAN-Bus and program the interface (Based on the Hako plugin).

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.