Hello Potato Farmer 
I have an panasonic fz-g1… During driving the Number exceeds over 100. Is this a Problem? Or What does this Value mean?
Thanks in advance.
Awesome question, I am not 100% sure.
@BrianTee_Admin what is @Bada number?
Is this a counter for disconnects?
its the number of gps trames ignored
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Okay… What can i Do against or is this even Bad?
Should i use a better Tablet? GPS gets via USB from Tennsy and Panda to the Tablet.
100 is not bad, but it also depends on how long 
What baud rate are you using with the usb?
it’s a little out of context but, I’m building an AOG system, using an HP 10 EE G1 tablet - Atom Z3735F - 2GB RAM, what does the number after the gps frequency mean “10~” ? in my tests outside the tractor this value is in 7 to 8 is this ok? on my i3 notebook it is about 4.5…
If I’m not mistaken, it’s the time in milliseconds to render a frame. Your numbers look good.
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I use it with 115200 and the Panda Teensy.
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I am getting a steady state reading of 66 on the indicator bar for the steering current. I have to have the setpoint at 75 for it to not kick out when making a fairly heavy correction. Then it becomes difficult to disengage if it is steering off course.
Curious what others are seeing with the @PotatoFarmer gears and phidgets motor.
For the ACS712 kick out is 16%, with 12 to 24V converter. Usually is around 8% while controlling on a line.
Are you running 12V?
Is there a way to increase or pause the tourque measurement temporary?
I have an ACS712 with 24V and my kickout is set around 16-19%.
My problem is, that immediately after steer enganging the kickout exceeds my value.
Is there a way to increase the kickout value in the e.g. first second for about 20% or pause it completely?
Increasing by x% would be the best solution in my opinion.
I did have a test version that when you first engage the motor would just ramp up nice & smooth instead of just going full speed instantly. Would that help your problem?
The best solution would be a code that would make the value of the disconnection current dependent on the PWM value at a given moment.
PWM = 50 ----> 5A
PWM = 100 —> 10A
It can be assumed that for a given PWM we have a certain current value. It is enough to always add the breaking allowance of the steering wheel to this value. With this approach, you should obtain a constant force needed to disconnect, regardless of whether you are riding the line or making a turn.
For an other thing i modified the ino to get the final value with mobile average( 5 value) except if request is down
It is really impressive how on the cab it is smooth and less noisy as oposite way it is time lossing to achieve to the result
According this subject it can be better to my opinion
Running with 24V.
I had another thought about this. Instead of using the ACS712 what if we just used the WAS and the commanded wheel angle. If the error between the two were greater than a set point then it would kick out.
I have not fully thought this thru just brainstorming here. Lots of thunder and lightning not much rain.
I need to run the steering plot again to see if this would even make sense.
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That does sound like it would help. I have to increase the value to allow for those instant on occurrences also.
I’ve been thinking about this for days too. My vehicle has a lane tracking system (semi-autonomous), while driving on the highway and while driving autonomously, the message “please touch the steering wheel” appears on the screen after 20 seconds, and even if I touch the steering wheel very softly with one finger, the warning screen disappears, I wonder how they did this, the steering wheel I think that even if there is a current sensor in the motor, it will not detect a soft finger touch. I have no idea if the encoder value is changing. (Hyundai Tucson 2021) I can post a video if requested.
More information. Manually turning the steering wheel left it disengages fairly easily. Turning right I can’t get it to disengage hardly at all. I had the motor stalled in a high speed turning situation with a lot of force on the steering wheel and it would not kick out.
Something must be up with my install of the ASC712 on my board. I purposefully located it away from traces so they would not interfere with the current sensing. I will take it apart and try a different location on the board.