@GoRoNb Nice PCB, there is a relay for 6/2 valve if you run hydraulic control?
there is enough cooling on ibt2 if you use electric motor?
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There is a general propose 12V output you may use for anything:
The coil of the relay can be connected between the output and +Battery.
I never worked with hydraulics; do you have a link for me? I’ll double-check…
The motor driver has an on-resistance of about 7mOhm. Assuming 5A of average current, we have 175mW + some switching losses for each of the two drivers. Should be no prob even in summertime.
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Look at steer.png in AOG support files, (dir1 / D4) the blue arrow care you put a small relay on to pull 6/2 valve, when it is pulled the steering wheel can not be used, will not be optimal with your suggestion
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Not 100% sure, but if you only need the digital signal DIR1/D9, you can connect to the highlighted pin in the middle of the picture next to the text “R59”:
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Uuups, testing dual-CAN will take a while 
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I’ve to correct my answer; the Cytron in the steer.png confused me…
I’m using a circuit like the IBT-2, so the DIR1_RL_ENABLE = D4 is the signal to control the 6/2 valve. It can be found here (underneath the yellow “D1” text):
I also found an “old” link discussing the same topic: Hydraulic valve info from Telegram group - #90 by Richardklasens_admin
There is another option I would prefer: Just add two lines of code, copying the D4 bit to the D5 bit and use the signal available at the “Steering” connector:
@GoRoNb I wrote wrong, you are right it is D4 we use to activate a small relay for 6/2 valve when we are in IBT2 mode, can not fit this relay on your PCB?
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Agree, nice idea to add it although hydraulic steering is critical in Europe… But no relay; that’s old style. Protected MOSFETs like BTS5030-1EJA are the smarter and more reliable choice.
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@GoRoNb I do not have a grand sense of electronics components, hope you find room for it, believe there is a part that uses hydraulics.
Yes, there was some space left to add this function via U14:
For assembling this part, edit the BOM file (“xU14” => “U14”, delete “R59”)
The 6/2 output will be on this track:
Furthermore you can put a solder joint on the bottom and remove “R76” + “F7” to make “SERVO+” to “-MOTOR” (= “-Battery” via emergency stop button), so that all signals to the valves are on “CN18”. That avoids current loops and you have a failsafe switching via the positively opening stop botton.
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Looks great! Nice video, can’t believe it’s the first one. I love the small design and enclosure. Still can’t believe its cheaper than ordering all the parts and soldering yourself. I am going to try to place an order. Great job!
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I think for most farmers just trying to get it to steer this is 100% hands down the way to go.
The only thing I can see changing just for the fun of tinkering is having a socket where the nano chip is to accept a teensy4.0, or I guess I could learn ESP.
Hopefully V4+ is still compatible it sounds like quite the revision in the works.
But very good job this is very excellent work, I wish I had the skills to build hardware like this.
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Unfortunately some parts are on allocation @ JLCPCB right now and Chinease new year is comming. If you order somewhere else, it would be nice to share this information with the community.
@PotatoFarmer The idea is to make it as easy as possible with all parts but connectors already automatically assembled. It’s in fact what Brian did, but all on one board + some options. Hope, the board will keep up with Brian’s ideas…
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Brian’s Ideas that is my worry too. Also all of the communities, this Ag Open as auto steer platform really seems to be gaining some escape velocity, and going through some very rapid changes.
The biggest thing I am worried about is the 328 running out of steam, even Arduino is dumping it for the 4809 on the Nano Every.
But I just want to make clear I love your board, you are clearly very skilled. Once its summer and supply chains are moving more freely I want a couple badly.
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Just made the latest ethernet udp software stack based autosteer with CMPS14 on board. Pid running at 25 hz - runs suuwweeeeeet. No worries of running out of hp with the nano any time soon.
And it only uses 30% of the memory.
Your board GoRONb will be just fine. Have you thought about adding the MCP23017 for driving relays off the steer board?
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I strongly prefer to use Modbus modules. Costs are roughly the same and there are no issues with EMC at all.
Can provide further source code, if you like.
Good day. I am a beginner and I have a question for you. Can I connect this engine ( 12v 10N.m 16N,m Automatic Steering Wheel Motor for Autopilot of Agricultral Vehicles - Buy steering wheel motor, automatic steering wheel motor, steering wheel motor for autopilot Product on Jinan Keya Electronic Science and Technology Co., Ltd ) to your board . It operates on a current of 20 A and uses RS 232 for control.
Thank you in advance
yes and no. From the HW point of view, the answer is yes. There are several ways to provide RS232 or CAN: simply via USB-to-RS232 cable plugged to one of the USB receptacles on the board or by connecting an USB-TTL-converter to connector U16 or via CAN2.0 if putting an ESP32 in place.
BUT this all won’t help because you don’t have any software support for that.
Andreas @Aortner did some test, but as far as I know, he wouldn’t suggest this way to go even if you adapt the software.
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Yes, you can.
I use this motor to. I also made a software based on @MTZ8302 software.
But for new built motors my software has to be adapted a little bit.
Software uses an ESP32 and wifi-UDP. You need a eg RS232max converter as @GoRoNb said.
My software is on GitHub - Lechnerch/AOG_GPS_ESP32: DUAL or SINGLE GPS bridge between AgOpenGPS an GPS receiver. Works with 2 UBlox to calculate heading+roll. Corrects and filters. ESP32 + Arduino MEGA
I have built in a Wemos D1 mini in the motor too to receive the wifi-udp and send it to the rs232max converter. Software is also on my github.
A video running on my tractor is Using AgOpenGPS with a brushless motor - YouTube
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Do you have a better lead on a price for this motor, I also looked into it but it was $895US.