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ethernet:start

Ethernet Edition

Overview


AOG Setup

This Computer

Host: the Name of your Computer (you don't have to change)

IP: the actual IP Adress of your Computer (you don't have to change)

Port: normaly 9999 (AOG is listening at this port)

Autosteer

IP: 192.168.1.77

Port: 8888, do not change

Rate Control

IP: 192.168.1.55

Port: 7777, do not change


Autosteer Module (Ethernet)

don't change this code, especially the ipDestination must be x.x.x.255!

static byte myDNS[] = { 8, 8, 8, 8 };    //DNS- you just need one anyway
static byte mask[]  = { 255, 255, 255, 0 }; //mask
unsigned int portMy = 5577;              //this is port of this module Autosteer = 5577
//sending back to where and which port
static byte ipDestination[]  = {192, 168, 1, 255};  //  (255=Broadcast) every module could use the info
unsigned int portDestination = 9999;          // Port of Computer
// ethernet mac address - must be unique on your network
static byte mymac[] = { 0x70, 0x69, 0x69, 0x2D, 0x30, 0x31 };

IMU Roof Module

AG Rate Module

uTurn / Autodrive Module

Lidar Unit (AG Bot only)

GPS to Ethernet

PAOGI NMEA Sentence for Combined GPS + IMU Data

AGOpen can receive $PAOGI NMEA style sentences that contain a combined GPS and IMU payloads. $PAOGI stands for Proprietary AgOpen GPS + IMU

The PAOGI Sentence format is as follows:

$PAOGI From GGA:

  • (1 , 2) 123519.00 Fix taken at 1219 UTC
  • (3 , 4) 4807.038,N Latitude 48 deg 07.038' N
  • (5, 6) 01131.000,E Longitude 11 deg 31.000' E
  • (7) 1 Fix quality: 0 = invalid
    • 1 = GPS fix (SPS)
    • 2 = DGPS fix
    • 3 = PPS fix
    • 4 = Real Time Kinematic
    • 5 = Float RTK
    • 6 = estimated (dead reckoning) (2.3 feature)
    • 7 = Manual input mode
    • 8 = Simulation mode
  • (8) 08 Number of satellites being tracked
  • (9) 0.9 Horizontal dilution of position
  • (10, 11) 545.4,M Altitude, Meters, above mean sea level
  • (12) 1.2 time in seconds since last DGPS update

From RMC or VTG:

  • (13) 022.4 Speed over the ground in knots
  • (14) 084.4 Track angle in degrees True

FROM IMU:

  • (15) XXX.xx IMU Heading in degrees True
  • (16) XXX.xx Roll angle in degrees (What is a positive roll, left leaning - left down, right up?)
  • (17) XXX.xx Pitch angle in degrees (Positive pitch = nose up)
  • (18) XXX.xx Yaw Rate in Degrees / second
  • (19) T/F IMU status - Valid IMU Fusion

*CHKSUM


ethernet/start.txt · Last modified: 2019/04/16 02:59 by 87yj