Hello!
I’m building a project from old hoverboard that uses modified firmware called FOC,it’s a open source and is very flexible! I want to equip it with a RTK and to do all the task on a football stadium! I’ve already made it work with old PS4 controller via BT% and UART communication! .Now I need to upgrade it with AOG. I’ve searched for any familiar topic here in this forum,but didn’t find any info how to control with auto-steering from AOG! Then I found this video https://www.youtube.com/watch?v=tiZRHrSA59g this is exactly what I want to do!
So my question here is how to configure AOG to do zero turn by controlling the motors only w/o a steering WAS! The firmware supports different protocols for comm. uart,ppm,ibus,pwm,i2c …
Any help or even contact with that project on the video will be appreciated!!!
Thank you!
I think you could simply report WAS back as 0.
Then when AOG calls for 1 degree you make the motors run at different speed.
If your motor controller is capable of keeping the motors in synch then you could just send the requested steer angle straight back to AOG. This is what my Can bus code did on my steer equipped Fendt 724. If the controller isn’t capable of keeping a roughly straight line or requested curve then you could use an IMU to create a WAS signal out of rotational velocity I did this when I was trying to run my Fendt 716 without a WAS. All depends on the controller software you are using.
Thank you all for your input!
I think this can be done way simple than I thought initially,just need to understand the protocol of AOG!
The hoverboard uses his original control board,just flashed with custom FW! Right now the only variables that I need to send via simple UART command are steer and speed.They need to be for ex. -255,0,255 for left/right and same for front/back depending on the speed I need!
Same like you do on the simulator with the arrows!
Here is the link for that repo GitHub - EFeru/hoverboard-firmware-hack-FOC: With Field Oriented Control (FOC)
here is the code from config.h for PWM control :
// ################################# VARIANT_PWM SETTINGS ##############################
#ifdef VARIANT_PWM
/* ###### CONTROL VIA RC REMOTE ######
- Right sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
- Channel 1: steering, Channel 2: speed.
/
// #define DUAL_INPUTS // ADC(Primary) + PWM(Auxiliary). Uncomment this to use Dual-inputs
#ifdef DUAL_INPUTS
#define FLASH_WRITE_KEY 0x1105 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
#define CONTROL_ADC 0 // use ADC as input. Number indicates priority for dual-input. Disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT 1 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define PRI_INPUT1 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, 0, 0, 4095, 0 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define AUX_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#else
#define FLASH_WRITE_KEY 0x1005 // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
// #define CONTROL_PWM_LEFT 0 // use RC PWM as input on the LEFT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART2!
#define CONTROL_PWM_RIGHT 0 // use RC PWM as input on the RIGHT cable. Number indicates priority for dual-input. Disable DEBUG_SERIAL_USART3!
#define PRI_INPUT1 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#define PRI_INPUT2 3, -1000, 0, 1000, 100 // TYPE, MIN, MID, MAX, DEADBAND. See INPUT FORMAT section
#endif
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
// #define TANK_STEERING // use for tank steering, each input controls each wheel
// #define INVERT_R_DIRECTION
// #define INVERT_L_DIRECTION
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#if defined(CONTROL_PWM_RIGHT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#elif defined(CONTROL_PWM_LEFT) && !defined(DUAL_INPUTS)
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#endif
// ############################# END OF VARIANT_PWM SETTINGS ############################ "
Blockquote
The “only” thing I need to figure out is how AOG to send commands for the steering w/o the need of the feedback to control the left and right steering to arduino/esp32!
Right now I have hooked ESP32 to hoverboard UART that connects to PS4 controller via BT and sends simple command with the two variables for steer and speed!
Thanks all again for your help!