I am planning the build of a large scale rover. I have the following in mind:
- 4 wheel drive
- 4 wheel chair motors, 450W each
- Combustion engine combined with alternator for charging battery bank, motor will also be used to drive power take off shaft for powering mower deck
- Mid articulating chassis
For controlling the four motors I was planning on using two 2x60A Sabertooth motor controllers.
Does anyone has experience with controlling two motor controllers with a Pixhawk?
For steering I would like to use the skid steering function, the articulation hinge will not be actively powered it this scenario.
Another possibility would be to include 1, or 2, hydraulic cylinders in the hinge point to actively articulate the chassis during steering. However I am not sure how to integrate these hydraulic control valves with the motor controllers and autopilot.
Currently I am sourcing parts and designing the chassis, would like to hear your thoughts on the drive and steering system.