Page 11
Potentiometer connections
Steering table
The relationship between the two motors speed changes as a function of the steering
angle and of the axle/wheeltrack ratio.
While the steering angle is an information coming from the trasducer (potentiometer), the
axle/wheeltrack ratio is a constant characteristic of the truck that depends on his dimen-
sions. Actually two steering tables are provided:
Option #1 = tables for 3 wheels trucks with driving wheels counter-rotation (the internal
wheel inverts the direction).
Option #2 = tables for 4 wheels trucks without driving wheels counter-rotation (the
internal wheel does not inverts the direction).
The truck data have to be communicated to Zapi, so that it is possible to put in the software
the correct steering table.
The correct table selection is done in the SET OPTION menu, see chapter 5.4.
The relationship between the two motors speed is equal to the relationship between the
two radius described during the curve.
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