The PlanI am going to simultaneously track my rover with RTK, PPP and standard GPS as it circumnavigates one of the tennis courts. I'll be steering it from my laptop, logging the raw datastream from the two GPS modules with the BBB and the RTK solution data by way of the RTKLIB Windows tools on my laptop.
Then I'll plot the data and share it in my next post.
Sadly, the skies aren't co-operating today so I'll have to put the experiment on hold until the weather clears.
The HardwareNow that I have everything assembled for the final experiment, here's a manifest of the primary components I used and where you can get them:
- Gumstix Pi Compute Development Board
- Gumstix BBB Rover Cape
- PreGO, Pre-GO PPP, Pre-GO PPP SMA
- Lynxmotion Aluminum A4WD1 Rover Kit (w/ Encoders)
- Sabertooth Dual 12A 6V-24V Regenerative Motor Driver
- Taoglas Dominator AA.161 Magnetic Mount GPS/GLONASS Antenna
- Raspberry Pi Compute Module
There's only one GPS header on the Rover cape so I had to solder the cable for the second Pre-GO directly to the BBB connector header. Now it looks like this:
The SoftwareYou can check out the git repository at: https://github.com/GumstixExperimental/RTKRover
I'm only using RovCtl for this experiment, but I intend to finish my automation software somewhere down the road.
office, chasing co-workers to the coffee machine, etc. For kicks, I taped a camera to the bot and recorded my shenanigans.
I think the BBB's batteries were running low. There were a couple of moments when there was noticeable lag between command and response, but I still managed not to hit anything too hard. With a full charge and some clear weather, we'll have this experiment wrapped up in no time.
Check out the video above to see how it did.
Up Next: Results!