I did not consider mechanical wear on the steering parts.
I did not understand the spring loaded drag. Have not seen these worn out and from the drawings I would assume wear at the king pin area would not cause a significant angle change. After all it is the angle between the top part of the king pin and the front axle. That angle should not change a lot if wear allows the king pin to move somewhat. Perhaps it does, as said, no experience about wear on our tractors.
A bit different tractor on your drawings, which one are they for?
14500 ish i think. Dismantling has uncovered kingpin wear too. It doesnāt add WAS errors directly but does add side load to the WAS which accelerates wear indirectly.
My Drawing is correct for the tractor. 2010 820.
Testing the 724 on can bus again later hopefully . With revised code to use AOGās gain etc.
@CommonRail out of curiosity we currently run older New Hollands which if my understanding is correct with their links to trimble and encoding of data are more difficult to access. We may be looking at a new tractor soon and in addition to New Holland could be considering a Valtra due to good relations with the dealer. Do you think that Valtras as part of AGCO would be more accessible on the CAN Bus system, similar to fendt and MF, than New Holland? Although this wouldnāt the main deciding factor in brand the tractor would come autoguidance ready and would be great to use that with AOG and other homemade electronics.
The short simple version is New Holland steer ready machines have installed a standard PWM valve and WAS in front axle, from there you can connect your own 3rd party steering controller. (Factory / Trimble system in New Holland have the steering controller in the Nav controller witch is not in steer ready machines).
Valtra use a standard Danfoss PVED-CL like the Massey Ferguson, its not really anything to do with Agco products, more just what systems the Manufacture uses.
Had an extended drive around one of my frozen maize fileds tonight. Nice and bumpy and no IMU to smooth them out. The 724 ( via can bus with code using AOGās PWM output to alter steer) was extremely well behaved. Really smooth steer and most surprising, headland turns were REALLY good.
Got two more BNO085ās ordered but the suspense is killing me so I think my 716 might loose itās BNO085 tomorrow!!
Still got things to iron out in the code but itās way more than promising!!
I am sure i wont matter, as the library will send 29 bits anyway.
only 3 priority bits according to standard.
data[0] = 5;
data[1] = 9;
data[2] = steerState;
data[3] = 10;
if (steerState == 3){
data[4] = setCurve;
data[5] = 152;
}
I am very interested in how this data structured. Are you able to provide more information?
Nice, ive got two more BNO085ās on order too. You will know more than I do but i was using the set steer angle from AGO and map that to suit can message, not the PWM? Ive got visions of the steer board only containing a Nano, a CAN Shield, and a BNO085.
That is what I did first but it was very savage on rougher ground. So what Iāve done now is run a steer variable to mimic the steer angle then drive this steer variable up and down with the PWM value. Then I map this variable to CAN. Iām taking the WAS figure from can and, when the CAN isnāt steering the tractor I map the WAS value to the steer variable so even when not autosteering it always tracks the steering. This prevents big jumps when steer is engaged.
Hope that makes sense!
As for the PCB, yes, nano, can unit and BNO is all we need really.
Is it possible to run two can adaptors from one nano?
Iām thinking headland managementā¦
[editā¦]
I very much doubt I know more than you do! I know what I want my code to do but a catalogue of schoolboy errors frustratingly slows me down!! Iām getting better, i think!
Is there a brand you work with? You have quoted the Fendt message witch is different to the standard ISO Danfoss system. With everything I make my own rule book from experience as i go until there is a proven more simple method.
The Danfoss books in the CAN-BUS section here are sort of OK if you have a rough idea of whats going on.
Iāll work out how to explain / show my rule book tho.
If your reading this subject and interested I hope your CAN shields / test parts are ordered because all this talk is only just the start of more too comeā¦
. With revised code to use AOGās gain etc.
I didnāt know, I learned a new thing 
