Steering inputs – twin driving motor systems
CAUTION: Loss of steering information can make a vehicle operate erratically. The analogue input use
for the steering sensor should have suitable wire-off protection configured.
Twin motor systems, which use the drive motors for turning, require some means of determining the
angle of the steering wheel.
To do this use one of these options:
• A steering potentiometer to give an analogue voltage which is a linear function of the steering
angle. The steer potentiometer voltage (2223
h
) must be mapped to an analogue input.
• Four digital inputs representing ‘inner left’, ‘inner right’, ‘outer left’ and ‘outer right’. The inner
switches indicate the steering angle where torque to the inner wheel motor is removed. The outer
switches indicate the steering angle where inner wheel motor changes direction. The outer switches
are optional. The steer switches (212B
h
to 212E
h
) must be mapped to digital inputs.
• Steering angle from 3
rd
party CAN device. This can be received via RPDO on object 2624
h
in
0.01º/bit resolution.
• To configure steering inputs go to index 2913
h
in the Object Dictionary:
• Setup the voltages corresponding to fully left, fully right and straight ahead. Using this
information, Dragon8 calculates the steering angle based on the voltage from a steering
potentiometer.
• Setup the steering map. This map defines the relationship between the inner and outer wheel speeds
and the steering angle. Each map has 4 user definable points as shown in Figure 26.
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