# Recorded Path

**URL:** <https://discourse.agopengps.com/t/recorded-path/5787>\
**Category:** Operations/Getting Started\
**Created:** [18 July 2021 21:17 UTC](https://discourse.agopengps.com/t/recorded-path/5787 "2021-07-18T21:17:01Z")\
**Posts on this page:** 15\
**Page:** 1

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**Author:** ![BrianTee\_Admin](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/briantee_admin/32/7_2.png) [@BrianTee\_Admin](https://discourse.agopengps.com/u/BrianTee_Admin)\
**Post date:** [18 July 2021 21:17 UTC](https://discourse.agopengps.com/t/recorded-path/5787/1 "2021-07-18T21:17:01Z")

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Very easy to use, a simple tutorial.

[![]( " - YouTube") ](https://www.youtube.com/watch?v=H-i6CyWCZWs)

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**Author:** ![vlam](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/v/85e7bf/32.png) [@vlam](https://discourse.agopengps.com/u/vlam)\
**Post date:** [20 July 2021 06:48 UTC](https://discourse.agopengps.com/t/recorded-path/5787/2 "2021-07-20T06:48:50Z")

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Hello,

Thanks for the video. Will it be possible to include a reverse gear soon?

Have a good day

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**Author:** ![BrianTee\_Admin](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/briantee_admin/32/7_2.png) [@BrianTee\_Admin](https://discourse.agopengps.com/u/BrianTee_Admin)\
**Post date:** [20 July 2021 14:12 UTC](https://discourse.agopengps.com/t/recorded-path/5787/3 "2021-07-20T14:12:15Z")

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I think that would only be of use if your tractor was completely controlled by aog.

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**Author:** ![whiterose](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/whiterose/32/7716_2.png) [@whiterose](https://discourse.agopengps.com/u/whiterose)\
**Post date:** [21 July 2021 18:50 UTC](https://discourse.agopengps.com/t/recorded-path/5787/4 "2021-07-21T18:50:14Z")

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Hi Brian, how should I go about stopping the motor when my robot goes off the registered path?

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**Author:** ![m\_elias](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/m/94ad74/32.png) [@m\_elias](https://discourse.agopengps.com/u/m_elias)\
**Post date:** [21 July 2021 22:18 UTC](https://discourse.agopengps.com/t/recorded-path/5787/5 "2021-07-21T22:18:14Z")

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Which motor? Your robot engine or steering motor? If using the cytron config then PWM2 is 5V when autosteer is on and 0V when off. When using IBT2 config then DIR does the same thing. (I think)

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**Author:** ![whiterose](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/whiterose/32/7716_2.png) [@whiterose](https://discourse.agopengps.com/u/whiterose)\
**Post date:** [21 July 2021 22:51 UTC](https://discourse.agopengps.com/t/recorded-path/5787/6 "2021-07-21T22:51:07Z")

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I talked about my autonomous robot, a relay for example to stop my wheel motor if it goes out of the way as long as I don’t face a wall.

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**Author:** ![KentStuff](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/k/f05b48/32.png) [@KentStuff](https://discourse.agopengps.com/u/KentStuff)\
**Post date:** [21 July 2021 23:40 UTC](https://discourse.agopengps.com/t/recorded-path/5787/7 "2021-07-21T23:40:31Z")

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We can add it to the micro. What kind of distance away from line it too far?

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**Author:** ![whiterose](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/whiterose/32/7716_2.png) [@whiterose](https://discourse.agopengps.com/u/whiterose)\
**Post date:** [21 July 2021 23:49 UTC](https://discourse.agopengps.com/t/recorded-path/5787/8 "2021-07-21T23:49:35Z")

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Dear Kentstuff, I’m currently using micro, I’m in simulation mode, I’m going to test it in the field soon, for example I plan to stop the wheel motors when it goes off the recorded path and the rtk signal is lost. 15-20 cm from the line. as. Is the system in the photo related to this?

![qwq](https://discourse.agopengps.com/images/transparent.png)

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**Author:** ![KentStuff](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/k/f05b48/32.png) [@KentStuff](https://discourse.agopengps.com/u/KentStuff)\
**Post date:** [21 July 2021 23:54 UTC](https://discourse.agopengps.com/t/recorded-path/5787/9 "2021-07-21T23:54:10Z")

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Yes, we can add the error check to micro. It will be a setting to check or no check with a distance, 10 to 500 cm.

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**Author:** ![whiterose](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/whiterose/32/7716_2.png) [@whiterose](https://discourse.agopengps.com/u/whiterose)\
**Post date:** [21 July 2021 23:57 UTC](https://discourse.agopengps.com/t/recorded-path/5787/10 "2021-07-21T23:57:33Z")

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So let’s say RTK disappeared and the vehicle stopped, can the vehicle continue to move when RTK comes back?

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**Author:** ![KentStuff](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/k/f05b48/32.png) [@KentStuff](https://discourse.agopengps.com/u/KentStuff)\
**Post date:** [22 July 2021 00:27 UTC](https://discourse.agopengps.com/t/recorded-path/5787/11 "2021-07-22T00:27:16Z")

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Yes. It will make several checks, if any are false, kill section 8. Once it gets rtk again and it is not off the line by \_\_\_\_\_. It will start.

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**Author:** ![KentStuff](https://discourse.agopengps.com/letter_avatar_proxy/v4/letter/k/f05b48/32.png) [@KentStuff](https://discourse.agopengps.com/u/KentStuff)\
**Post date:** [22 July 2021 01:44 UTC](https://discourse.agopengps.com/t/recorded-path/5787/12 "2021-07-22T01:44:07Z")

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So, we want:  
Speed  
GPS  
RTK  
Off Rec Path  
Off ABline  
Off Curve  
Over Boundary.

Off ABline and Curve, only if autosteer is on.

All on a saved toggle.

Anything else?

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<div class="post-metadata">

**Author:** ![whiterose](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/whiterose/32/7716_2.png) [@whiterose](https://discourse.agopengps.com/u/whiterose)\
**Post date:** [22 July 2021 14:03 UTC](https://discourse.agopengps.com/t/recorded-path/5787/13 "2021-07-22T14:03:56Z")

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If my requests will not tire you too much, it will be useful for me, thank you very much.

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**Author:** ![BrianTee\_Admin](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/briantee_admin/32/7_2.png) [@BrianTee\_Admin](https://discourse.agopengps.com/u/BrianTee_Admin)\
**Post date:** [22 July 2021 21:08 UTC](https://discourse.agopengps.com/t/recorded-path/5787/14 "2021-07-22T21:08:27Z")

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All of that would be custom programming though - AOG doesn’t actually have any routines to control a piece of equipment like the former AgraBot did. That was actually quite complex to have AOG control the control system that interfaced with the mechanical systems of the tractor.

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**Author:** ![Richardklasens\_admin](https://discourse.agopengps.com/user_avatar/discourse.agopengps.com/richardklasens_admin/32/22279_2.png) [@Richardklasens\_admin](https://discourse.agopengps.com/u/Richardklasens_admin)\
**Post date:** [13 December 2024 18:27 UTC](https://discourse.agopengps.com/t/recorded-path/5787/15 "2024-12-13T18:27:12Z")

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