Would it be possible that if a uturn is not found within so many meters of the u turn line then it stops checking and the tractor is allowed to make the majority of the last abline before it shuts off? (Say to that point) I could see this to be a problem if the field had a large step in the boundary. It would need user input to keep from getting stuck in the corner anyway. But just wondering.
Thats what happens now, when uturn advances too much and leaves a long portion of current AB undone, driver turns uturn off, manually turns then switches it back on on the next run.
I do believe we have found, and are working on a solution, @BrianTee_Admin could probably code it in no time, but we will try first.
we got youturn to draw the second shortest dubins path ok, but when AOG drove it, it got stuck in a loop, so not really practical atm.
Been working on Youturn, very early sneek peek, lots of code to finish & bugs to fix. had to get turns accurately following Youturn line first.
Insipired by @BrianTee_Admin and coded by my son Travis. My input is just ideas & keeping the supply of refreshments flowing.
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Awesome !!! That is just what I need on my sprayer !! Nice work .
Definitely a great enhancement!!!
Gonna be tricky at the beginning / end of uturn and making sure it can actually make the turn. But i think the challenges of that pales in comparison to just following the uturn line advantages. Still gonna be in the tractor to cancel if required, not autonomous requirement.
Great job.
Would you not end up with missed passes if the program just picks route according to the turn?
Yeah. Youturn radius needs to be bigger than min turn radius so tractor has enough reserve turn to follow line. Will need another setting for this in setup form or we can fudge it by making youturn radius 10% bigger than min turn in code.
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Finally got Travis to post AOG with his enhanced Uturn code to his Github page.
Would really appreciate if anyone interested, could build it, check it out and give any advice/comments.
Must set steer to pure pursuit, stanley code still not fixed.
Once i get v4 posted, I’ll try to figure out what has been done. Really excited to see that work
Weeks of work and math that’s way beyond me, squeezed into a few minutes. Thanks go to my son Travis for persevering with this. At times it really did seem an impossible task.
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Wow, great work Travis and Andrew!
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Not many edge cases left! That works very well. Such an awesome addition. Great work - I see this program is just as addictive on the other side of the world… Good thing.
Frigging addictive alright, having trouble getting Travis to do normal farm work!! When that video was made we thought we nearly had it done, a few seemingly little tiny bugs that would have annoyed everyone has caused a rethink and pretty well a complete rewrite of his previous code.
That bloody saying 90% done 90% to go, rings so true.
For those waiting that may use this feature we apologise for the wait but hopefully its done before the silly season sets in.
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Cool! I find it amazing how close you can get to like 98% and then go shit, really, damn. Hopefully we can jam it into v4.1
Hi ,
Does anyone have to continue working on these functions? The trials were promising.
I tried to access travis’s github (@APM) but 404 error … I should have saved it the last time I took a look. I have now evolved a little in the understanding of C so I would have liked to take a new look.
Hmmm. It was functional but put on hold as we got busy and my test tractor hit by lightning last Feb, and still not returned as dealer found not a simple fix as first thought.
Code is still available. Will see if I can get Travis to post it so you can test.
@Tooki57, I edited the link in post 9 to travis’s github. he had changed the name on me!
the code for the uturns is split into 26 commits with pretty good descriptions of what is going on to make it work. let us know how you get on with it.
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Hi, are you talking about fixing this problem ? Uturn doesn’t go on headland track.
Thats not a problem! its a feature of Brians code to help the machine to not go outside of the boundary.
You could try building from Travis’s code as noted in post 9 of this thread. or wait for V5 as it may get implemented if found useful.
Great! I need it.
We can take the files on github? There are no big bugs?