Canbus sprayer system controlled by Agopen

Hardware Section Control
1

I have a Bateman rb26 sprayer, with a Harrison individual nozzle system controlling the nozzles. The system is working ok for now, but the interface is very dated and simple, with a lot of features missing that agopen has, like showing which nozzles are currently on and setting the rate. It runs on an android tablet connected via bluetooth to the canbus controller, then to control boxes on the booms that handle 6 nozzles each. The nozzles are opened by the sprayers standard air lines, with each nozzle having an electric valve operated by the Harrison system.

Is this idea feasible, or an impossible dream?

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2

lets sniff it? :slight_smile:

3

Good idea, I had read a little bit about that but I’m not sure how to get started.

4

These are good ones to start with:

Also @andyinv did a video:

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5

Some good info there, makes sense. Heres a few photos of the modules on the sprayer.

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This is on the back of the sprayer, middle group is connection to cab box, then left and right group for both boom sides.

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This is the cab box, here the gps inputs, the sections active from the joystick inputs, outputs the ground speed to sprayer rate controller and to bluetooth adapter to tablet.

6

Since aog will take over most of the operations, would I be correct in thinking the best place to sniff would be on the inputs into the module on the back of the sprayer? Another thought is to abandon the canbus system, and wire each nozzle directly to relays. Is having 48 relays a feasible option?

7

I have a board with 12 outputs that can do ~0.5A each so 4 of that on the boom would give you that 48.
It has a can transceiver so we could probably use just 4 wires.
but since you already have that I’d really try to figure out how that works

8

Sounds good, i’d like to try use whats there too. I’ll need to get a can sniffer then and try figure it out.

9

Here’s what I’d try to do:

Check where is the CAN terminated. (So we don’t break the bus by unplugging ECUs)

Add our own sniffer on the bus.
Try to plug/unplug the different ECUs and see what communication it has.

Once we have messages comes the hard part where we need to replicate them and understand how each of them works.

We can put messages on the bus with the sniffer.

What I’d start with is the section commands for the nozzles. If we crack this then the rest is known ground with the rate controller.

1 Like
10

I stumbled across this menu that was buried in the sprayers control app, i didnt do any experiments as i dont want to mess it up at this point in the season, but it looks like it will show all the can addresses when prompted.

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11

That Left / Right Token is strange.

And it seems to me that we have Left / Right boom and each module has 8 outputs.
Maybe the center of the boom doesn’t have a “0” module ?
Each module covers 4m it seems.

12

Yes correct, 8 modules on the whole boom, controlling 6 nozzles each, split into left and right. Boom is 24m with 48 nozzles.

13

and you have the ability to do setpoint state. So that’s golden.

90% of what’s on that screen is for the 1 time setup.

14

Yes, that should help. 1 more spraying day left this season, then i can start experimenting. Thanks for your help so far, hopefully it will be a success.