I’m tinkering with a electric wheelchair. I’ve currently hacked the stock wheelchair controller to cut out the joystick and use a arduino uno with a small sketch to poll 2 channels for PWM then output them to a mapped PWM output. I feed that into two DACs that basically give me a range of 1v to 4v and a “neutral” of 2.5v. This works for the joystick in both axis of the joystick.
From what I’ve gathered, I can do this inside the Ardupilot instead. (I saw in some of the documentation where I can map min/max. I should be able to take the output of those and feed them through the DACs I made.
I’m currently using PWM on the RC controller, but I guess I can change that for this since that would reduce the wiring.
My question is how exactly would this need to be configured. It works in reality like skid steering, but the actual interface would be like the Separate Steering and Throttle setting.
Would it be able to skid steer but use the traditional throttle/steering?
I’d rather just keep the setup I have on the wheelchair, it was a bariatric wheelchair so everything is very heavily built and the motor controller works just fine with the setup I have.
The end goal is to have it roam autonomously. I plan on building a arm(s) and adding a camera/head. All of that probably would be controlled via a separate computer.