WEEDINATOR

Code for microprocessor modules controlling the WEEDINATOR agricultural robot and manufacturing files. All code compiles using the Arduino IDE and is in .ino format.

Processors

Primary

A 3 core TC275 running at 200 MHz controls the various motors with step pulses and direction HIGH / LOW. On the I2C bus it is the MASTER.

Secondary

A MEGA 2560 is used mainly for good compatibility with existing arduino modules and code. Its function is to receive data from

• GNSS module (Ublox C94 NEO-M8M Base & Rover)
• GSM module (Adafruit FONA 800H GPRS)
• Object recognition camera (PIXY )
• Digital compass (Sparkfun 9DOF Razor IMU MO, see Issue #10)

Steering

• Heading is the direction that the machine is actually travelling in
• Bearing is the direction that it needs to go in.

Subtracting one from the other gives the direction and amount that the steering needs to turn.