I have a strange throttle behavior with my rover in reverse…
Things are running as expected regarding the rotation direction and the rover is responding (in Manual) as expected to sticks inputs.
The only thing not working as expected is the following: when I pull back the joystick to go in reverse, the motors are starting at full speed and the speed decrease as I pull back on the joystick until they stops when I reach about -55 to -60% on the throttle , it doesn’t really make sense to me but I can’t figure out what is happening and why I have such behavior…Oh and I have quite a massive deadzone with the stick: I need at least 55% movement before getting the engine running
The rover is a tracked UGV. The two motors are driven by 2 brushed with relay controllers from Adafruit (this is the controller I am using: https://www.adafruit.com/product/3190).I have followed the recommended settings as per Ardurover wiki but I am sure I must have missed something there…
I am adding a couple of screenshot of the setting tab from Mission Planner…
Can someone help me solving this “mystery” and point me in the right direction?
Thanks in advance for your time
With Kind Regards
Alain
Hello,
Thanks for taking the time to answer me and sorry for the delay replying (I am often away from home at the moment therefore I can be slow to answer/reply)
So as for the settings: the 2 motor controllers are plugged on Channel One (Throttle Left) and Channel 2 (Throttle Right). The MOT_PWM_TYPE is set to brushed with Relay and each controller as the direction pin connected respectively to channel 3 and 4. The relay functions are set to 5 (Brushed motor reverse 1 throttle or throttle-left).
Here is attached a log of a test I did in Manual: https://www.dropbox.com/scl/fi/1k51ngvzwljywam56jx78/1-01-01-1970-01-00-00.bin?rlkey=ue1cx9dafg9bh871fcxyv5s4i&st=dxnpm0q5&dl=0
Oh and the rover is controlled by an homemade control-box based on a Teensy 4.1 and commands are sent using the CRSF protocols.
Home those details are sufficients? Please do not hesitate if you need clarifications or more details.
best
Alain
I asked you to show your detailed wiring. I need this to understand your setup.
Also describe how you control your rover. Do you have a classical steering channel and a classical throttle channel or do you use one channel for each motor?
Oh sorry, my bad I completely forgot…
So the motor controller are connected to the PWM board, itself connected to the I/O PWM Main on the Pixhawk (6C), as the following:
Left Motor Throttle (In1) on slot 1 of the PWM board, In2 (direction pin) on slot 3.
Right Motor Throttle (IN1) on slot 2 and IN2 on slot 4.
And the Ground of the motor controllers are connected on one of the PWM board Ground pin.
I do have use the classical steering channel and throttle channel setup. On the same stick in my set up
What is this PWM board? Is this only a wiring adapter or is it some electronic?
Your RCout 3 and 4 always show 0. So no switching.
You have changed the RCMAP so RCchannel 1 should be steering while RCchannel 2 should be throttle. On both channels we can notice some signals but not at the same time.
Did you run a radio calibration? For RCchannel 2 the TRIM value is not in the middle of MIN and MAX.
Is our motorcontroller using RC like PWM signals so from about 1000 to 2000 or is it using standard PWM range from 0 to MAX. I assume last one.
Hello,
The PWM board is the one coming with the PixHawk 6C (see attached picture)
“Your RCout 3 and 4 always show 0. So no switching.” → ok, What I don’t understand is why the motors are changing direction then when I play with the joystick?
I will check if the RCMAP is correct.
I did run a radio calibration when I did the set up (as per the wiki recommandation)
”Is our motorcontroller using RC like PWM signals so from about 1000 to 2000 or is it using standard PWM range from 0 to MAX. I assume last one.” → I am not sure, let me check if I can find the answer in the manual…
