Hi Farm-Ng Team,
I’m curious to further understand how wheel motor control works on the Amiga. What motor controller are you using? Is it this one ?
It appears that this type of controller sends a torque command to the motor, however the AmigaRpdo1 command requests a specific vehicle linear velocity. How does the dashboard instruct the motor controller to achieve the desired wheel speed? Is there a feedback control system where the torque command is adjusted until the requested wheel speed is achieved?
Keen to understand how this works from the perspective of maintaining a constant vehicle velocity through a field. Given the same command velocity, will the vehicle velocity remain relatively constant even under different loading conditions (e.g. uphill or through soft soil) or is the torque constant and the wheel angular velocity will adjust as the load changes? From the perspective of driving straight, if the wheels see different loads will they rotate at different speeds?