SteeringSensor - Revision history

Elcanoadmin: /* Sensor Connections */

2026-06-19T19:52:56Z

‎Sensor Connections

Elcanoadmin: /* Sensor Connections */

2026-06-19T19:51:42Z

‎Sensor Connections

Elcanoadmin: /* Sensor Connections */

2026-06-19T19:45:20Z

‎Sensor Connections

Elcanoadmin at 19:37, 19 June 2026

2026-06-19T19:37:36Z

Elcanoadmin: /* Sensors used */

2026-06-19T19:34:40Z

‎Sensors used

Elcanoadmin: /* Steering state Summer 2024 */

2024-08-16T01:33:09Z

‎Steering state Summer 2024

Elcanoadmin: Added current steering state to provide information on what sensors are being used and how we are currently receiving the angle values to the DBW board.

2024-07-24T22:31:38Z

Added current steering state to provide information on what sensors are being used and how we are currently receiving the angle values to the DBW board.

JosephBreithaupt: /* Ackermann Steering Geometry: wheel angle and turning radius */

2019-07-09T05:33:45Z

‎Ackermann Steering Geometry: wheel angle and turning radius

JosephBreithaupt: /* Ackermann Steering Geometry: wheel angle and turning radius */ added images

2019-07-09T05:28:21Z

‎Ackermann Steering Geometry: wheel angle and turning radius: added images

JosephBreithaupt: /* Ackermann Steering Geometry: wheel angle and turning radius */

2019-07-09T04:44:09Z

‎Ackermann Steering Geometry: wheel angle and turning radius

@@ Line 48: / Line 48: @@
 * 3: Angle sensor on right steering column
 * 4: Return on right column
-Both signal and return are expected to pick up similar noise. Their difference is used to reduce noise
+Both signal and return are expected to pick up similar noise. Their difference is used to reduce noise.
 Jumper B
@@ Line 56: / Line 56: @@
 * 4: MOSI
-There are three methods for steering: Pulse for linear servo, H-bridge, or Motor Shield. Other RJ45 pins are
+There are three methods for steering: Pulse (linear servo), H-bridge, or Motor Shield. Other RJ45 pins are
 * 5: Ground

@@ Line 55: / Line 55: @@
 * 3: SCK
 * 4: MOSI
 == Mounting the Steering Angle Sensor ==

@@ Line 41: / Line 41: @@
 == Sensor Connections ==
-The RJ45 Steering connection on DBW v5 carries both sensor input and actuator output.
+The RJ45 Steering connection on DBW v5 carries both sensor input and actuator output. Depending on the jumpers, it can be configured as
 == Mounting the Steering Angle Sensor ==

← Older revision		Revision as of 19:37, 19 June 2026
Line 38:		Line 38:

	- AMS5043 Magnetic Angle Encoder. This requires that a cylindrical magnet be mounted precisely on the shaft. The sensor has an indent for the magnet, but the indent in not in the right place. Difficult to get robust readings from the part.		- AMS5043 Magnetic Angle Encoder. This requires that a cylindrical magnet be mounted precisely on the shaft. The sensor has an indent for the magnet, but the indent in not in the right place. Difficult to get robust readings from the part.
		+
		+	== Sensor Connections ==
		+
		+	The RJ45 Steering connection on DBW v5 carries both sensor input and actuator output.

	== Mounting the Steering Angle Sensor ==		== Mounting the Steering Angle Sensor ==

@@ Line 33: / Line 33: @@
 - EMS22A50-M25-LD6 Digital rotary encoder. This produces 1024 steps over 360 degrees, in SPI.  It will give a resolution of 0.35 degrees. Requires a change to Arduino.
-- TLC1549CP 10-bit analog-to-digital converter with serial control. This could be used to digitize the voltage from the RTY060LVNAX, reducing noise from analog transmission. Requires a change to Arduino.
+- TLC1549CP 10-bit analog-to-digital converter with serial control. This could be used to digitize the voltage from the RTY060LVNAX, reducing noise from analog transmission. DBW v5 can handle this with jumpers set for it.
 - AMS5043 Magnetic Angle Encoder. This requires that a cylindrical magnet be mounted precisely on the shaft. The sensor has an indent for the magnet, but the indent in not in the right place. Difficult to get robust readings from the part.
 == Mounting the Steering Angle Sensor ==

← Older revision		Revision as of 01:33, 16 August 2024
Line 92:		Line 92:

	Both prototype trikes are using the 60-degree angle sensors on the left wheel hub with the 360-degree angle sensor on the right wheel hub acting as a backup sensor. The current noise experienced from the left angle sensor is 10-15 analog read values or 48-73 mV recorded on the DBW v3 board and the resolution currently provided meets the current needs when steering with the RC controller. The steering angles are currently being returned through the steering board via an RJ-45 cable to the DBW board with each sensor having its own return line and power being provided locally from the steering board.		Both prototype trikes are using the 60-degree angle sensors on the left wheel hub with the 360-degree angle sensor on the right wheel hub acting as a backup sensor. The current noise experienced from the left angle sensor is 10-15 analog read values or 48-73 mV recorded on the DBW v3 board and the resolution currently provided meets the current needs when steering with the RC controller. The steering angles are currently being returned through the steering board via an RJ-45 cable to the DBW board with each sensor having its own return line and power being provided locally from the steering board.
		+
		+	[[File:SteeringPerformance.png\|600px\|Solenoid Brakes]]

← Older revision		Revision as of 22:31, 24 July 2024
Line 88:		Line 88:

	TODO: determine if these equations accurately predict the inputs from the turn angle sensors while the trike is stationary or moving.		TODO: determine if these equations accurately predict the inputs from the turn angle sensors while the trike is stationary or moving.
		+
		+	== Steering state Summer 2024 ==
		+
		+	Both prototype trikes are using the 60-degree angle sensors on the left wheel hub with the 360-degree angle sensor on the right wheel hub acting as a backup sensor. The current noise experienced from the left angle sensor is 10-15 analog read values or 48-73 mV recorded on the DBW v3 board and the resolution currently provided meets the current needs when steering with the RC controller. The steering angles are currently being returned through the steering board via an RJ-45 cable to the DBW board with each sensor having its own return line and power being provided locally from the steering board.

← Older revision		Revision as of 05:33, 9 July 2019
Line 49:		Line 49:
	== Ackermann Steering Geometry: wheel angle and turning radius ==		== Ackermann Steering Geometry: wheel angle and turning radius ==

−	Many road vehicles use a variation of Ackermann Steering to allow a vehicle with more than two wheels to turn smoothly. The challenge of steering a multi-wheel vehicle in a circle is that all wheels are at different distances to the center of that circle, so they must turn to different angles and spin at different speeds. The trike used in the current Elcano system solves the speed differential problem by having only one drive wheel and un-driven steering wheels. The steering differential problem is solved using Ackermann steering geometry. With a basic understanding of Ackermann steering and right triangle geometry, we can predict variables like the turning radius of ~~different wheels~~ and the steering angle of ~~different~~ wheels. The inner turning wheel and outer turning wheel turn at different angles and have different turning radii. These calculations find both dimensions.	+	Many road vehicles use a variation of Ackermann Steering to allow a vehicle with more than two wheels to turn smoothly. The challenge of steering a multi-wheel vehicle in a circle is that all wheels are at different distances to the center of that circle, so they must turn to different angles and spin at different speeds. The trike used in the current Elcano system solves the speed differential problem by having only one drive wheel and un-driven steering wheels. The steering differential problem is solved using Ackermann steering geometry. With a basic understanding of Ackermann steering and right triangle geometry, we can predict variables like the turning radius of each wheel and the steering angle of the two front wheels. The inner turning wheel and outer turning wheel turn at different angles and have different turning radii. These calculations find both dimensions when given the inner turning radius (R1 in the image), wheelbase, and front wheel distance.

@@ Line 51: / Line 51: @@
 Many road vehicles use a variation of Ackermann Steering to allow a vehicle with more than two wheels to turn smoothly. The challenge of steering a multi-wheel vehicle in a circle is that all wheels are at different distances to the center of that circle, so they must turn to different angles and spin at different speeds. The trike used in the current Elcano system solves the speed differential problem by having only one drive wheel and un-driven steering wheels. The steering differential problem is solved using Ackermann steering geometry. With a basic understanding of Ackermann steering and right triangle geometry, we can predict variables like the turning radius of different wheels and the steering angle of different wheels. The inner turning wheel and outer turning wheel turn at different angles and have different turning radii. These calculations find both dimensions.
-'''Principle Formulas:'''
 Ackermann steering geometry is based on two right triangles. Every calculation comes from right triangle trigonometry and the Pythagorean Theorem.
-PUT STEERING ANGLE IMAGES HERE
+[[File:wheel-angles-small.png|center]]
 TODO: determine if these equations accurately predict the inputs from the turn angle sensors while the trike is stationary or moving.

@@ Line 54: / Line 54: @@
 Ackermann steering geometry is based on two right triangles. Every calculation comes from right triangle trigonometry and the Pythagorean Theorem.
-%ATTACHURL%/Angles.png
+PUT STEERING ANGLE IMAGES HERE
-%ATTACHURL%/TrikeTurning.png
+TODO: determine if these equations accurately predict the inputs from the turn angle sensors while the trike is stationary or moving.
 -- Main.JosephDonan - 2017-05-17