►
From YouTube: Open Source Robotic Tractor - ROSAgriculture + OSE
Description
See notes at http://opensourceecology.org/wiki/Open_Source_Robotic_Tractor
Links for this meeting:
Links from the video - Kyler Laird participated - he won the AgBot challenge - http://www.agbot.ag/seeding-competition-2017/
https://www.youtube.com/user/KylerLaird - shows video also of open source drone motor
IMU Brick 2 + Arduino - https://www.tinkerforge.com/en/doc/Hardware/Bricks/IMU_V2_Brick.html
http://wiki.ros.org/rosserial_arduino
Microtrac on Github - https://github.com/ros-agriculture/microtrac
https://www.facebook.com/groups/398759490316633/permalink/735791753280070/
https://github.com/jeremy-a/razor_imu_9dof
Tersus RTK - GNSS - https://www.tersus-gnss.com/
https://emlid.com/navio/
https://store.arduino.cc/usa/arduino-mega-2560-rev3
https://www.amazon.com/s/?ie=UTF8&keywords=sainsmart+ssr&tag=mh0b-20&index=aps&hvadid=7003343918&hvqmt=e&hvbmt=be&hvdev=c&ref=pd_sl_72wu29h24t_e
Solid state relay - https://www.amazon.com/SainSmart-4-Channel-Duemilanove-MEGA2560-MEGA1280/dp/B0079WI37Y
Navio - https://emlid.com/navio/
Labjack - https://labjack.com/
Reach RS GPS - https://emlid.com/reachrs/
Swiftnav GPS - https://www.swiftnav.com/store
Swiftnav antenna - https://www.swiftnav.com/store/accessories-and-receiver-packs/gnss-antenna-pack
Tractobot 3 - https://www.youtube.com/watch?v=2blQMSQCKik
Ubiquiti radio -https://www.ubnt.com/airmax/rocketm/
Lanyard switch - https://www.amazon.com/Sea-Dog-420488-1-Switch-Lanyard/dp/B00DH3QHBI
Feather - stackable control boards from Adafruit - https://www.adafruit.com/feather
1 channel wireless transmitter - http://www.carymart.com/blog/1-channel-wireless-transmitter-receiver-remote-control-one-lights-on-or-off/
Remote kill switch -https://learn.sparkfun.com/tutorials/how-to-build-a-remote-kill-switch
----------
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Take a minute to subscribe to our email newsletter (updates, workshops, etc): http://bit.ly/1LtcM44
A
B
D
A
B
E
Is
that
the
right
time,
yep,
okay,
so
previously
big
AG
project
I,
can
share
the
link
I
think
someone
already
had
shared
a
link
to
the
computation
details
so
from
the
trans,
a
competition
we
participated
was
to
traverse
the
field
in
rows
technically
and
then
just
spray
harvested
I
don't
be
so
the
last
time
we
had
an
old
electric
vehicle
that
was
custom-built
at
a
university
here
in
Indianapolis
I'm,
saying
it
RUP.
Why?
Most
of
you
guys.
E
E
E
E
It
be
more
feasible
to
use
the
same
Navi,
oh
and
he
Navi
Oh.
Can
you
please
just
be
buying
hardware
on
the
on
this
robot,
which
would
be
much
bigger
in
size
as
compared
to
the
other
one,
because
the
other
one
was
actually
like
30
by
10
30
by
10,
each
other
30
by
20
inches,
which
was
like
pretty
compact.
But
this
one
is
actually
a
big
car
ideal
size
car,
so
real-life
full-size
car.
E
E
Concern
would
be
that
we
will
have
full-size
computer
full-scale
computer
on
board
for
the
detection
part,
because
the
last
time
we
had
a
laptop
on
board
and
we
did
Thank
You
resistor
mixed
up
system.
This
time,
you're
planning
travel,
much
nicer
and
streamlined
power
supply.
Just
for
the
laptop
I
mean
just
by
the
computer
onboard.
Would
it
be?
E
F
A
F
Then
went
to
a
Python
script
that
went
to
Ross,
so
I
can
tell
you
that
I
am
well
I
didn't
go
very
far
with
the
Navi
Oh.
An
APM
I
thought
that
map
link
and
a
vo
were
way
too
difficult
to
do
what
I
needed
to
do:
I,
music,
much
larger
machines,
so
simple,
servo
motor
controls,
the
SC's.
That's
that
was
insufficient
for
my
needs.
So
I,
don't
I,
don't
know
what
kind
of
control
you'll
have
with
this
Yamaha.
Okay,
I
I
can
imagine.
F
E
So
that's
how
we
interface
there
and
that's
what
we
used
for
like
to
get
the
feedback
from
the
leniency
top.
Do
you
know
that
you
can
get
linear
actuators
with
feedback
built-in?
Yes,
we
do,
but
we
did
have
I
mean
working
with
universities
is
some
somebody
had
difficulty
because
you
have
to
once
you
have
the
parts
coming.
You
can't
change
your
justifications
and.
F
Hi
I
understand
and
I
can
also.
There
are
some
other
sensors
that
I
would
recommend.
There's
a
GM
sensor
that
I
use
that
you
can
pick
up
at
a
hardware's,
auto
parts
store
but
I.
So
so
you've
already
gone
through
this,
where
you
want
to
use
the
Navi
oh,
but
in
order
to
do
so,
you
have
to
run
through
an
Arduino
to
make
everything
work.
F
F
F
D
F
F
F
Good
question
so
yeah,
if
you're
yeah,
the
other
thing
about
the
Navi
o,
is
that
it
does
have
the
I
am
use
on
board.
You
figured
that
out
makes
navigation
kind
of
easy
imprecise.
Navigation,
at
least,
is
easy
I'm
using
dual
party
K
receivers.
In
fact,
my
latest
is
a
high-end
I
and
well
a
low-end
I
NS,
with
eight
millimeter
precision
and
two
antennas,
so
it
it
does
a
thousand
Hertz
IMU
output.
F
F
F
The
bricks
are
really
cool,
but
you
can
use
the
IMU
brick
all
on
its
own.
It's
a
USB
interface,
yeah
self
calibrates,
not
nearly
as
good
as
what
I
was
hoping,
but
I
had
staple
heading
from
my
GPS
receivers,
and
so
I
just
need
to
be
I'm
yuda
to
provide
that
are
posed
in
between
those
readings,
and
it
worked
really
well.
So
thank
you.
I
can
recommend
that
I
am
NOT
a
math
guy,
the
the
math
of
I
am
used
and
such
I
really
don't
want
to
deal
with.
F
F
B
E
A
E
B
F
I
quickly,
I
since
I
went
down
that
same
path
and
I'm,
hoping
someone
can
do
it
a
lot
better.
All
pointing
out
that
one
of
my
well,
my
biggest
fear
in
not
using
the
Navi
O+,
was
that
I
wouldn't
have
that
navigation
software
and
I
was
most
concerned
because,
for
my
needs
is,
as
I
mentioned,
it's
Matt
just
mentioned:
I
was
planting
corn,
so
I
needed
to
be
very
precise
about
traveling.
A
straight
line
that
was
all
I
cared
about.
F
So
if
you're
off
by
five
inches
sure
you're
going
to
intercept
that
Waypoint
at
the
end
of
the
field
or
that's
the
idea,
all
right
I
need
to
be
always
on
the
line.
So
I
ended
up
making
the
break
and
saying
I'm
just
gonna
program,
this
myself
I
program,
something
really
dumb,
but
it
worked
so
as
far
as
navigating
through
the
field.
I
suggest
that
you
don't
be
afraid
to
write
your
own
software
and
and
there's
probably
some
really
good
lost
code
out
there.
I
just
didn't
I
didn't
find
it.
F
B
F
B
D
F
B
F
C
E
F
Before
I
forget,
I've
been
working
with
the
Chinese
company,
taursus
te
RS
us
and
I.
In
fact,
I
was
hoping
to
use
their
RTK
receiver.
They
have
a
dual
RTK
receiver.
I
had
wanted
to
use
it
for
the
competition
they
kept,
pushing
it
back,
pushing
it
back.
I
finally
got
one
Wow,
so
I
got
the
box.
I
haven't
even
pulled
it
out
yet
I
do
not
recommend
the
NBS.
I
got
two
of
them,
and
one
of
them
is
a
brick
because
a
firmware
update
failed
and
the
support
was
not
good.
F
E
It's
been
sure,
I
need
to
have
a
big
list
of
things.
I
need
to
them
this
week,
so
yeah
also
I,
don't
just
like
to
add
one
more
question
open
for
any.
So
we're
planning
to
have
a
detection
algorithm
running
like
it
should
be
based
on
some
sort
of
neural
network
or
some
sort
of
machine
learning
algorithm
which
I
have
not
worked
on
but
I
know,
that's
gonna,
be
there
and
they're
planning
to
use
a
separate
PC
for
head.
E
Would
it
be
wise
to
just
use
ross
on
that
PC
and
then
interface,
each
of
the
other
components,
and
you
have
everything
on
one
system
or
would
it
be?
Would
you
guys
recommend
a
separate
bar
for
the
detection?
This
our
main
goal
is
the
detection
to
get
a
protective
running.
I
mean
the
detection
bar
we're
hoping
to
get
it
at
least
eighty
to
ninety
percent
accuracy.
F
F
I-4,
especially
for
a
competition
but
I
would
want
to
use
fewer
processors
rather
than
more
and
I
would
feel
personally
would
feel
much
more
comfortable
using
something
like
an
Arduino
I
use,
an
Arduino
mega
256.
For
my
my
the
one
that
I
used
in
competition,
so
lots
of
I/o
plenty
of
memory,
I
usually
use
a
card.
F
We
know
Nano
use
something
like
that
for
the
time
critical
stuff
like
servo
actuation
of
a
linear
actuator,
for
example,
or
your
Steve
great
you're,
doing
hydraulic
flow
suturing
in
my
face
offload
that
on
to
an
Arduino
somewhere
run
it
over
Ross
serial
put
all
your
processing
your
other
processing
on
another
machine.
I
I
would
personally
stay
away
from
having
several
machines
only
because
each
one
is
more
to
maintain
more
things,
to
break
it's
harder
to
snapshot
the
entire
system.
F
F
F
E
F
And
if
you're
looking
at
the
controllers,
I
have
not
used
it,
but
I
suggest
that
you
at
least
become
aware
of
the
Nvidia.
What
is
it
like?
A
TX
1,
TX
2,
something
Nvidia
is
really
trying
hard
to
get
in
this
space,
and
their
controllers
are
very
powerful.
Great
for
doing
visual
processing,
low-power
they're,
small,
so
I
would
think
that
something
like
that
would
be
a
good
fit
for
what
you're
doing.
E
F
E
A
A
C
C
C
D
C
Machine
to
drive
the
tracks,
so
that
was
a
little
bit
more
complicated
because
the
Raspberry
Pi
has
33.3
both
logic
levels
and
the
the
relay
module.
We
had
had
five
fold
logic
levels,
so
we
tried
a
three
to
three
three
point:
three
to
five
pole
girder,
which
wasn't
working.
We
had
it
all
and
down
and
for
some
reason
we
couldn't
get
the
5
volt
signal
through,
but
I
ordered
a
Raspberry
Pi
supposed
to
be
here
tomorrow,
which,
before
relays
on
it
and
so
I
hope
to
at
least
do
some
prototyping
with
that.
C
C
It
sets
up
the
control
through
services
for
all
services,
so
we
would
still
have
probably
need
another
node,
but
it
would
be
a
simpler
note
than
what
I
was
and
though
so
that
would
be
what's
left
at
least
her
machine
control.
The
last
piece
is
the
simulation.
We
had
a
lot
of
great
help
from
Ian
to
get
the
stuff
set
up
with
models
created,
but
right
now
we
still
need
the
simulation
portion.
C
C
F
Have
questions
then
I'm
curious
about
your
hardware
interface.
It
sounds
like
you've
gone
through
a
lot
with
that.
I
just
want
to
make
sure
that
you
know.
What's
out
there,
hi
I
used
the
Arduino
a
lot
because
it
has
5
volt
the
Arduino
Nano,
the
mega
256
have
5-volt
logic,
and
that
helps
me
in
some
situations,
but
there
are
certainly
lots
of.
C
F
F
You
can
get
the
you
can
get
an
eight
SSR
board
and
it'll
take
three
volt
five
volt,
whatever
logic
and
do
DC
control.
They
have
an
AC
control,
also,
but
make
sure
you
get
the
DC
control.
If
that's
what
you
want
and
then
I
only
see
this
because
I've
been
I've
encountered
some
people
who
don't
know
about
this.
If
you
are
controlling
motors,
don't
use
relays,
there
are
H
bridges,
they're
vastly
better
suited.
F
F
F
F
Even
pen,
so
my
first
two
tractors,
I
used
bangbang
valves,
I
use
the
the
MOSFET
for
and
I
wasn't
getting
the
slow
speed
that
I
wanted
for
small
Corrections
and
I
ended
up
doing
some
tweaking
where
I
would,
as
I
turned
off
one
solenoid
instead
of
wetting
the
spring,
letting
it
do
a
spring
return.
I
would
fire
the
other
solenoid
for
just
a
moment
and
I
could
I
could
cut
down
by
by
my
movement,
speed
quite
a
bit
that
made
it
reasonable.
F
B
F
Have
both
I
use
the
solid-state
once
I?
Finally,
I
recently
got
a
module
with
a
mechanical
relay.
I
did
I
didn't
end
up
using
that
one,
but
you
can
also
get
solid-state
relays.
These
are
industrial
pieces
they're.
They
look
like
little
I
call
them
pucks
they're,
they're,
epoxy
bricks
that
just
have
two
wires
on
one
end
or
one
side
and
or
at
the
top
two
wires
on
the
bottom.
You
give
it
three
volts
on
the
bottom.
It
starts
conducting
on
the
top.
F
F
E
B
G
B
A
B
F
F
C
That's
all
I've
got
I,
think
I,
think
that's
good
information,
I
hope
at
some
point
we
can
change
emails
and
get
some
like
specific
parts.
You
can
recommend
that
I
was
looking
at
the
MOSFET
for
a
while
you're
talking,
I'm,
not
sure
I
found
the
exactly
right
want
that
that
and
the
in
the
same
smart
control.
That
would
be
good
to
kind
of
get
some
exact
parts
yeah.
F
The
same
sparked
I
think
for
what
you're
doing
it
would
be
a
great
board
for
you,
it'll
give
you
the
you'll
get
screw
terminals
out
of
it,
which
is
nice
and
you'll,
have
eight
channels,
and
so,
if
you
want
to
control
something
else,
you'll
have
plenty
of
them.
I
started
off
just
eating
a
couple
and
I
think
I
ended
up
using
all
of
them.
In
my
first
project.
G
A
C
B
A
F
A
F
F
F
F
F
I'm,
just
walking
out
by
water
by
tractors
right
now,
I'll
tell
you
that
when
I
first
got
my
NBS
receiver,
I
used
patch
antennas
that
came
with
it.
Yeah
and
I
happen
to
be
putting
them
on
a
steel
roof
tractor
and
that
worked.
Okay,
I
moved
to
another
tractor
and
I
had
to
put
the
antennas
on
a
frame
on
top
of
a
plastic
roof
and
the
antennas
that
were
suggested
to
me
by
the
company
that
sold
the
package.
F
They
didn't
work
at
all
turned
out
that
they
were
timing,
antennas,
I,
thought
I
was
getting
really
good
antennas
from
Talisman
and
they
were
timing.
Antennas
and
I
was
trying
to
do
a
precise
position
and
especially
to
get
the
heading
out
of
it,
and
they
were
not
working
well
at
all.
So
I
got
I've
been
getting
the
mini
surveying
antennas
from
pixie
a
pixie
project
and
I've
got
a
bunch
of
up
now
and
they're
they're,
just
wonderful.
F
F
Okay,
well,
I
was
really
hoping
to
show
it,
because
I've
got
a
MOSFET
for
an
h-bridge,
Raspberry
Pi
and
the
same
smart
solid-state
relays
in
here
I'll
try
to
get
a
picture
of
that.
If
you
go
to
my
youtube
channel
there
there's
one
video
where
I
do
a
tour
of
krakow,
bot,
bot,
3
and
all
those
are
in
there.
F
A
F
F
F
Kill
what
are
they
if
you
have
a
PF?
What
is
it
a
personal,
whatever
a
jetski?
They
have
lanyards,
basically,
that
you
clip
onto
your
wrist
or
something
and
you
pull
it
shuts
it
off.
I
put
some
of
those
I
put
a
couple
of
those
one
on
each
track.
So
if
you
get
up
alongside
it,
you
can
pull
it
and
it'll
kill
the
machine.
I
also
used
a
long-range
wireless
kill,
switch
one
that
I
bought.
F
Originally
you
can
buy
them
from
Carrie
Mart,
see
ary,
ma
Artie
I,
especially
like
the
design
of
it,
and
to
know
protract
about
three
I
built.
My
own
long
range
kills
foot
using
a
Laura
feather
lor
a
is
long-range
radio
and
the
feather
is
something
by
Adafruit.
It's
a
simple
board
and
you
can
even
get
them.
I've
got
a
high
I
think
it's
called
a
low
PI
I
haven't
used
it.
F
Yet
it's
in
it's
a
micro
Python
with
aura
processor
anyway,
I
used
a
feather
lower
feather
for
the
transmitter
and
and
then
I've
got
another
one
sitting
in
the
tractor,
and
it's
just
connected
to
one
of
these
large
industrial,
solid
state
relays.
And
if
you
hit
the
button
on
the
remote
it,
it
just
kills
the
remote
feather
and
it
has
to
be
restarted
manually
for
the
the
transmitter
I
used.
F
You
can
get
these
nice
little
waterproof
cases
or
gps's
and
they
have
a
magnetic
back
and
it
was
real
handy
to
put
a
big
big
red
button
on
it,
and
I
could
stuff
a
battery
and
feather
in
there
and
it
works
works
really
well.
So
that's
the
extent
of
my
safety
mechanism.
I
do
not
have
any
anti-collision.
F
Devices
right
now,
I
do
I
have
ordered
I've
got
a
couple.
Thermal
cameras
that
I
am
planning
on
using
I'm.
Also
really
interested
in
LED
are
LED,
dar
I
think
it's
using
LEDs
instead
of
a
scanning
laser
for
doing
point
clouds.
Basically
I
have
not
gotten
anything
on
that.
Yet,
though,
so
I
have
to
have
to
keep
pleading
pretty
close
track
of.
My
machines
are
doing
because
they
could
do
some
damage.