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Thread: More Mule then Rover?

  1. #251

    Re: More Mule then Rover?

    more baby steps on way to four wheel drive.

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  2. #252

    Re: More Mule then Rover?

    Very nice!

    But will it have four-wheel independent steering? :-D

  3. #253

    Re: More Mule then Rover?

    But will it have four-wheel independent steering?
    jwatte, I'm wondering that also.

    with the front motors not connected to the front wheels turning is a battery sucking operation
    with these fat wheels on pavement and the bucket installed. should be better with chains on the tires.
    and the tires should last longer.

    with the motors connected and chains installed I hope to be able to do zero radius turns with a full bucket
    without drawing over 100Amp.

    I got a Sabertooth 2x60 for this build, but seems the Sabertooth 2x32 may be better for the batteries I'm using.
    I got the 2x60 thinking I was going to be adding 2 more batteries, plans change.



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    should have the front motors installed in 2 weeks, then I'll know if I need to look into
    all wheel steering.


    I would't want to play with the mule on my lawn right now(dragging the front wheels around)
    but is fun to play in the sandbox.

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    Last edited by Tommy_T; 2 Weeks Ago at 09:31 AM.

  4. #254

    Re: More Mule then Rover?

    2x32 may be better for the batteries I'm using
    Using a bigger controller is not a problem in itself -- it just gives you more margin for error. The only reason to use a smaller controller is if space or dollars are a constraint. FWIW, I've learned that a 2x margin in ratings of controller versus stall current of motor is about the right safety margin for me :-)

    Will you still do tank steering, or are you considering articulated wheels? (Maybe go-cart style simple-pin steering, with a linear actuator pushing it sideways?)

  5. #255

    Re: More Mule then Rover?

    Using a bigger controller is not a problem in itself
    jwatte, difference between Sabertooth 2x32 and the Sabertooth 2x60 is more about convenience to me.
    with the 2x60 a max232 chip and pc software(describe) are needed to set things like current limits, the 2x32 has
    a usb communication hub built in, with the 2x32 I can set things like Acc/Dec and current limits without the need
    to swap wiring and changing dip switches(which is priceless when it's cold outside).

    the mule does not have an on-board PC for this build.

    I'm also wondering if my current batteries can supply the 200Amps that (2)
    Sabertooth 2x60 could draw.
    I have blown a number of 100A fuses over the years with (1) Sabertooth 2x60.

    Will you still do tank steering
    Plan A is to do skid steering, and I also want to be able to do ZRT.

    I tested an idea today that seemed to work.

    I lowered the bucket all the way down, then tilted the bucket down until the front wheels came off the ground
    then did a ZRT with ease, sliding around on the tip of the bucket(this would only work on hard surfaces).
    Last edited by Tommy_T; 2 Weeks Ago at 07:00 PM.

  6. #256

    Re: More Mule then Rover?

    sliding around on the tip of the bucket
    Good thing this is not your lawn mower robot :-)

  7. #257

    Re: More Mule then Rover?

    Good thing this is not your lawn mower robot
    jwatte, not this season, but next summer it is.

    this problem became obvious the first season's build(mowing), the first build used open-loop
    control of the drive motors which ended up creating divots in the lawn when doing ZRT with
    just two fixed wheels on the ground, with four it would leave divots even with closed-loop control.

    all of the different option(plow,bucket,mower) have been designed as attachments.

    next fall's build is replacing the bucket with a plow(four wheel drive plow is hours of entertainment).
    Last edited by Tommy_T; 2 Weeks Ago at 06:00 PM.

  8. #258

    Re: More Mule then Rover?

    Better watch out! If you're not careful, you'll end up with a robotic farm to sustain you through the coming climate apocalypse, and then where would you be?

  9. #259

    Re: More Mule then Rover?

    more baby steps.

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    coming climate apocalypse
    jwatte, I'm very slow with my climate apocalypse preparations , I can collect only 300gl
    of rain water so far.

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  10. #260

    Re: More Mule then Rover?

    Love it :-)

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