Hi,
I have a Keya driver and a BNO085 steering angle sensor. Could any of you share the settings you use for this configuration? What settings should I use for the Gain, Pure Pursuit, and Deadzone parameters? Could someone advise me?
I can’t help, but also wouldn’t mind the details for this. In my case I’m curious what to set for the disengage to function properly (the current setting doesn’t seem to work, the wheel is incredibly hard to disengage). Looking at the code it seems to send up a false current setting based on speed difference… ?
2.7 agressiveness and 10 integral
on the stering part I usually go with:
15
maximum value of 100
minium value of 30
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that’ll be between 20-47%
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What should I choose for the dead zone? What setting should I use for the heading?
How do I set the speed factor and the Acquire Factor?
Try changing the Current Turn Sensor setting here. The lower the percentage, the easier it is to disconnect.
Thanks guys. That verified it for me. I had the WAS set up wrong when I first tested it, but ran the Steer Wizard again and was able to then tweak the Current Turn Sensor setting with noticable feedback (I found it had a nice disengage on the lower ~15% side, as I don’t have to really jerk the steering wheel to disengage then). I just used the settings @BGunics listed for the others.
Again, thanks so much, now I’m farming in the 21st century.