This projects tries to implement an AgOpenGPS compatible steering controller using a Phidgets 24V DC Motor, a Phidgets Motor Controller and a Phidgets Rotary Encoder. The goal of this project is to eliminate the need of a wheel angle sensor by calculating the current wheel angle from the rotary encoder's output.
The overall architecture consits of a python server (running on the same computer as AgOpenGPS) communicating via UDP traffic with AgIO on the one side and via an USB connection using the Python Phidgets SDK with the motor controller.
Please note that this project is just a proof of concept and may fail / crash suddenly.
- https://github.com/salmiac/pi-steer/
- https://github.com/jkonno/AOG_wasless
- https://github.com/v12cat/WAS-Less-AOG
- https://discourse.agopengps.com/t/aog-without-wheel-angle-sensor/2929
- Windows Tablet
- AGOpenGPS (v5.6.2)
- Python 3.10
- Phidgets 24V DC Motor
- Phidgets Motor Controller
- Phidgets Rotary Encoder
- 3D Printed gears for the motor and steering wheel
- I used these but likely any will do
- GPS (+IMU)
- You will also need a system to get the position. There are many options with AGOpenGPS to choose from (e.g. Single, Single+IMU, Dual ...)
- I used the AGOpenGPS Panda Board with single GPS and BNO085 IMU connected via USB