I have a V4.1 board with dual antenna set up. I am using a cytron and wheel motor for autoo steer. I currently am able to get through the calibration problem and the motor is capable of turn both left and right when I am tuning the PWM section. Where it begins to have problems is when I try to engage and follow a line. It proceeds to turn right until the wheel is completely cranked to the right, well passed my target line.
When I mess around with the steering in the configuration settings, I put the set point to the right and the motor will drive the wheel that direction, and as I increase that set point to the right, it will shoot towards that position. When I try and move it back to the left, it automatically cranks the wheels to the right.
At a bit of a loss for settings right now, looking for some expertise here!
Your sure motor direction, was and imu axis is all the correct way?
Youve not enable the danfross option by mistake have you this will make the motor go 1 way if you have
So I have tried flipping it back and forth several times. Inverting WAS, inverting motor direction. In the case of the IMU mounting in the tractor, it is. I also use a dual antenna. I tried just flipping on that danfoss button as well and it did exactly what you said, just started turning one direction so that wasn’t on before either.
I’ve attached a video of it and some pictures of the settings. I re-uploaded software to the teensy and even swapped teensy’s, no improvement there.
My concern is that the Motor board may be damaged somehow? Or a pin on the Teensy Damaged? I think I’ve gone over the teensy, don’t think it is that but I may have missed something. Maybe the direction signal from my cytron? But I see the DIR light flashing when I move the WAS.
I order another one to give it a go, but unfortunately I don’t currently. When I use that drive mode setting in the picture there I can get it to stop at the target, but again the driving back the other way seems to be the problem. Is that what you were thinking?
I could try a different software rev? Think that would be of any significance ?
Measure the voltage at the dir pin on the cytron when it’s supposed to be changing direction. All it is is a voltage for one direction and no voltage for the other. I had a similar thing happen once and it was the the tract under the plug on the cytron got damaged
Your tractor does drive to the right direction on screen right? If you mix the 2 antennas and it thinks going backwards then it might end up going circles
This is an interesting one. I think it is functioning as intended so when I check that voltage it’s showing 3.2v when I cross the target point in one direction and when I pass it on the other side it’s showing next to 0v. So I think it is functioning as intended …
Is there a chance the teensy pin itself could be damaged? I am not sure exactly which pin that would be though.
Solution! I screwed up the traces on the DIR pins on the cytron … There was no signal getting out of that pin to the Teensy. Good thing i’m not making a career out of soldering … ridiculous.
I am officially turning left now.
