My AgopenGps

No, under support go to udp, then machine udp. Use an adapter with nano straight to Ethernet. Sketch has to support the Ethernet adapter.

Still building.


Hi fellow Ontarians, I am in Middle eastern Ontario, just diving into Agopengps but I have been tinkering with electronics and software for quite a while. I have a base set up on rtk2go already, under “Crewsfarm” using a sparkfun F9P and SNIP.


Is there a good place to go to find out what the heck panda is and how it works? Can one use teensy, and connect it via USB, or must you go Ethernet at that point?

Panda is about synchronising position (GPS) and acceleration (IMU) data. (when your tractor hangs to the side because of uneven soil, the GPS position may need to be corrected) A separate Panda board with a Teensy controller takes care of this and send one combined $PANDA message to AOG. New AllInOne PCB’s have this function integrated. Ethernet/UDP is the direction we are going. When you are building now, I would not aim for USB.

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If you type in the two words panda and test, first result tis this!

I started a thread here: AIO v2.5 board extension for hydraulics/sections

Hey Kevin, thanks for the reply. Your project looks very good. Wondering if you could give me some more guidance on how to find instructions for a project very similar to your own. I currently can’t find any information about machine control using udp in the support folder. I went agopengps_ boards/support/arduinomodules/udp/machine_udp_v571. But am not coming up with anything. If you could guide me in the right direction that would greatly be appreciated.

Also, you are using a nano, breakout board, relay board, toggle switch and Ethernet adapter? Wondering what Ethernet adapter you are using to support Sketch? Also is the nano/ and relay board 3v? What are you using to convert to that?
Sorry if my questions seem dumb. I feel like I’m just making a wrong turn somewhere and can’t figure out how to get going the right way.

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Hey Crewsfarm,
Welcome to the thread. Glad there is other Ontarioians here. I am in the North western part of southern Ontario. Let me know if I can help with anything. My advice is to not read anything more than like a year old from the platform. Software/hardware seem to both have dramatically changed in the last year or so and info before then will tend to be inaccurate and lead to more confusion. My quick suggestions are to use the wiki from GitHub. As well, as try and use the hardware that is most current. Ie teensy, f9p, udp, all in 1 pcb. There is a lot more support if you are following the main stream project.

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Far eastern Ontario here! :person_raising_hand:

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I ordered a teensy and a BNO085 from Adafruit over the weekend, Anxiously awaiting their arrival. I am (Slightly) annoyed at the “AIO” approach that seems to be the default way most people are steered[pun unnoticed until the edit] *Though I do understand why this is the tendency
It seems both an unnecessary barrier, and overkill from a hardware perspective, to ask someone just starting out to order a PCB from China that contains provisions for a bunch of hardware they may not use.

Like I said, I understand the “Build once and you’re done” idea of the AIO PCB, and the increased reliability of having no loose wires, etc. It also seems to me it has come a long way from the idea of plugging some stuff into an arduino and having a functioning guidance system.

Off-topic: Why does the IMU-GPS fusion which seems to be called PANDA, have to be done on the microcontroller at all? Seems to me that the processor in the windows computer should be able to do such math faster. Or is it because the serial port drivers in windows have unknown delay in them? (perhaps I will find this on the forum myself looking into the history of panda, but so far I am not having much luck with the search function)

PANDA is quicker in the Teensy as it’s correlating GPS and heading etc all in-box, no delay in sending to computer, waiting for processing, receiving info back. The measurements all relate to each other (no point getting a heading a second apart from position), so fusing them in as short a time as possible before handing it on.

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Hello ipeel8. When you reply, if you click on reply button under users last post. It will be directed to the user and they will get a notification. I believe @ipeel8 will do the same.

Here is a link to Machine_udp.

It takes all these files to have complete sketch. I was copying and pasting each file in a new tab. You may know this, but I just found out from Brian. If you download whole support folder. It is much easier. :relaxed: Adapter is enc28j60. It’s one of the files on screenshot. Great adapter! I ordered 2 from eBay and header pins were crazy thin. Almost unusable, Loose connection. Just watch that. If pins are extra long, they are better. I trim them with tin snips. Toggle switch cuts 12v power to relay contacts. The clutches I use are engaged. Power to disengage. This way if having trouble, can always plant.

Edit: sorry you were already to sketch folder. Nano and relay board are 5v. This 16ch relay board has built in 12-5v converter. Pretty nice to set up. I had a little trouble enabling 12 outputs from nano sketch. I was only getting 3 outputs at first. How may sections you have? You have to be careful what pins you use. Adapter uses quite a few.

This is sketch I used for 12 sections. (43.4 KB)


How would you connect a BNO085 directly to a windows computer?

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You could use a USB to TTL Serial adapter, but the timing in Windows is terrible for syncing the GPS with BNO.

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Hey Kevin,
I am still a little confused about the required hardware and software but I plan to start ordering some components based on your picture. Once I have some items in front of me maybe it will start to come together. I currently only need to control 4 sections but want to build it for future expansion. how do you know what pins to use?

Nano pins
Ethernet adapter
Jumpers multiple connectors
Terminal adapter
12v-5v converter
Look at bottom of sketch. D4 is 1section D5 is 2nd section and so on. I used multi connectors. @m_elias idea. They stay on much better than single jumpers.
That, the sketch, and AOG should get you started. Can pm me as well. I had to get help from Matthew for enabling sketch. I used MTZ for external switches.

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Hope that helps. Forgot to reply to your post. Not a lot of documentation on section control like there is for auto steer. The works witch has to go to auto steer board I believe. I haven’t tied it in yet. Can order whatever relay board you want. Most have to have external 5v power. The 16ch has 12-5v built in.

Thanks for the info Kevin. I got some items ordered.

Hello. Wondering if someone can give me instructions on how to load the machine_UDP_v571 onto the nano via usb. My only expereience is loading the software onto the teensy. I have modified the sketch to hopfully run 8 relays as per @D0824 instructions. But beyond that I am unsure. I watched a few videos online but when I plug the nano in the computer it doesnt recognizes that it is even there. Do I need different software first? I am using Arduino 1.8.19. Also the “POW” light comes on and the “L” light flasheson the nano when it is plugged in to the computer but in the device manager “Ports” tab it doesnt see any COM ports. If anyone could give me some suggestions what I should doing that would be great.

Try this, it’s a ch340 driver file.

CH34x_Install_Windows_v3_4 (1).zip (189.1 KB)