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agopengps:start

** P - Proportional **

Proportional is aggressivity- if you set this value higher the steering motor turns faster. You can think of this as a volume control. If this value is set too high it will oscillate back and forth quickly.

** P* - Multiplier **

There is P and the P* Multiplier. The two are just mulitplied together to achieve final P

** Draft - Roll effect on steering **

D is used for roll gain to add to steering. Values from 0 to 24, with 24 being lots and lots of steering added based on roll, 0 being nothing.

** Integral/ Max.Integral **

I is just disabled for now, still figuring out an effective way to use I to add bit of steering to keep on track.

** Steer >0< **

Adjust value to drive straight ahead You can make a a-b line and use autosteer to follow the line - if you are always left or right you need to adjust value

'If you can't reach 0 with these Buttons vary the value 412 (Bottom of Brian's Sketch) or SteerPosZero (Autosteer_AIO - Sketch)

** Max Steer **

the max steer amount of your vehicle

** Counts per deg **

look the the data from wheel angle sensor

8 means - 8 points is 1 degree steering angle

** Safe Turn **

This is maximum angular velocity. In other words, how sharp a steering angle do you want to be allowed at a given speed.

A way to figure this out might be to drive in a circle at comfortable speed note the steering angle and then speed up until it becomes uncomfortable. Note that speed and angle and then calculate your angular velocity.

Value in radians per second
** Min PWM **
indicates: from how much pwm the motor may be controlled. is the calculated value underneath the engine is stationary

**Look Ahead**

indicates how far the pure pursuit steering should look forward (in meters)* the higher the softer

**Auto Steer chart**

It has actual and setpoint steer angles.

The red line should follow the green line as good as it can! (Fast but less swingover)

possible 18V Drill settings (speed 1)

** Proportional **

Proportional is for now (present)- if you set this value higher the steering motor turns faster. You can think of this as a volume control. If this value is set too high it will oscillate back and forth quickly.

If using an 18V drill (in gear 1) or a motor that turns between 200-300 rpm. A good starting point might be around 25

** Derivative **

Derivative looks into the future, in that this value anticipates where the steering motor will end up if it continues turning at the present rate and helps prevent oversteering. This helps prevent oscillation.

set to 0 or 1

** Overall **

Overall is a multiplication for the steering pwm from proportional

+ gives more power to the motor

** Integral **

Integral looks into the past and helps that you not oversteer the steer angle.

If you had a low proportional setting that causes the desired steering angle to not be reached (error), adding some integral would correct the accumulated error.

A starting place might be 4

** Max Integral **

Integral becomes bigger and bigger untill it reaches max integral

A starting value might be double your integral value.

** Steer >0< **

Adjust value to drive straight ahead You can make a a-b line and use autosteer to follow the line - if you are always left or right you need to adjust value

** Max Steer **

the max steer amount of your vehicle

** Counts per deg **

look the the data from wheel angle sensor

8 means - 8 points is 1 degree steering angle

** Safe Turn **

This is maximum angular velocity. In other words, how sharp a steering angle do you want to be allowed at a given speed.

A way to figure this out might be to drive in a circle at comfortable speed note the steering angle and then speed up until it becomes uncomfortable. Note that speed and angle and then calculate your angular velocity.

Value in radians per second
** Min PWM **
indicates: from how much pwm the motor may be controlled. is the calculated value underneath the engine is stationary

**Look Ahead**

indicates how far the pure pursuit steering should look forward (in meters)* the higher the softer

*Wtalen thinks this value is seconds not meters as the faster you drive the further ahead the point becomes

**Distance back for heading** - how many meters back should the 2 points be for calculating heading. The farther back the smoother - but more delay in your actual heading.

**Section Triggers** - how far you travel before section applied makes a new set of triangles, the small, the more there will be generated - also affects contour line as contour points are also made every time a new set of triangles are drawn.

**Offline cm** is how far off line does a single lightbar pixel light represent. Adjusts sensitivity of lightbar

**Boundary point to point** - When you are making a boundary, how far do you have to travel before generating another point. More looks smoother - but then there are lots more points also.

*thanks to Beerwiser /Mundare Alberta*

P will make it react more quickly. Start with no I or D. Get your P up to the point where the machine oscillates quite quickly when hunting for the line and then drop it until it is fairly stable on the line. When I say quickly that is extremely unique to each machine. If you have a slow reacting machine, quickly will still seem slow. Think of quickly as how fast you could manually make the machine oscillate around a line. That is what you want to aim for with the P setting. As a example, my sprayer which has terribly slow steering will never react as quick as the tractor which has a fast steering. So when I go to adjust the P on each, they will feel way different. Sort of boils down to knowing the feel of your machine and its physical capabilities.

I should be set next. Quite simply raise it up to the point where is starts to over correct and then bring it down until it stops overcorrecting. By now you should be tracking pretty well.

Lastly D. Too high of a D value will make control feel mushy. Bring it up until you get that mushy response and then cut it in half(sometimes lol), but that sort of gets a guy to the ball park area for D. Hard to explain D, but any number that does not get you a mushy feeling is good.

Hopefully this helps and again don't expect AOG to track perfectly if you can not make it track perfectly steering it yourself.

Or from Brian's Video on the topic https://www.youtube.com/watch?v=pp1DIjGVoWk&t=2s

** Examples **
Wilbert Talen (WTalen):
https://www.youtube.com/watch?time_continue=6&v=dFOhRXbOdIk

Drill Motor P 50 D 1 O 15 I 15 MaxI 30 SafeTurn 15 Min PWM 3 LookAhead 1

agopengps/start.txt · Last modified: 2018/10/08 09:05 by dokuwikiadmin