Rover firmware - Githubissues

elbridge / yard_bot

GPS-RTK based autonomous lawn mower

GNU General Public License v3.0

0 stars 0 forks source link

Rover firmware #1

Open elbridge opened 5 years ago

elbridge commented 5 years ago

Use Arduino base or go directly to ASF libs?
List of things this needs to do:

Talk to base station over LoRa to get GPS-RTK correction data
Talk to base station over LoRa to get next waypoint and report when a waypoint is reached
Get data from GPS module and combine with correction from base station to get current position and heading
Turn the main blade on and off
Control the speed of each rear wheel to progress towards the next waypoint
Monitor battery voltage and notify base station transmit data to base station
?IMU? we may need a secondary position feature to bridge GPS data gaps. 9DOF IMU could be running in parallel to GPS position and provide data until GPS lock comes back.

elbridge commented 5 years ago

For the rev 1 rover, using the $12 plastic base. We're going to put a PI on it. But we need to choose a starting point to get the correction data and communicate with hte GPS. I found 2 reasonable open source code options: All in Python, but no comments https://github.com/tridge/pyUblox Or a couple cpp modules we'll have to stitch together https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library with https://software.rtcm-ntrip.org

elbridge commented 5 years ago

To do kernel PWM us the pigpio library: http://abyz.me.uk/rpi/pigpio/ Install it. Start it on the pi in a terminal with sudo pigpiod Then use it from python with: import pigpio pi = pigpio.pi() pi.set_mode(16, pigpio.OUTPUT) pi.write(16, 1) #to set a DC value pi.set_PWM_dutycycle(16, 50) #to set the PWM, range 0-255