You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
44 lines
2.2 KiB
44 lines
2.2 KiB
1 year ago
|
# Motors Setup (ArduSub)
|
||
|
|
|
||
|
|
In order for ArduSub to function properly, the motors must be correctly set up.
|
||
|
|
|
||
|
|
If you just assembled your ROV, first make sure that the thrusters are connected to the correct outputs in the **Manual Test** section.
|
||
|
|
Drag each slider and make sure that the _correct motor_ spins accordingly to the frame displayed.
|
||
|
|
|
||
|
|
Once you know that the thrusters are connected to the proper outputs you can check for _correct direction_ (forward/reverse) using either [automatic direction detection](#automatic) (recommended from ArduSub 4.0) or the [manual test](#manual).
|
||
|
|
|
||
|
|
:::info
|
||
|
|
[Manual Test](#manual) is supported by ArduSub up to 3.5, while ArduSub 4.0 supports both [Manual Test](#manual) and [automatic direction detection](#automatic).
|
||
|
|
:::
|
||
|
|
|
||
|
|
## Manual Test {#manual}
|
||
|
|
|
||
|
|
The ArduSub motor setup allows you to test individual motors.
|
||
|
|
The sliders allow spinning each motor in forward or reverse mode, and the checkboxes under the sliders allow reversing the operation of individual thrusters.
|
||
|
|
|
||
|
|
The image at the right shows the frame currently in use, along with the location and orientation of each thruster.
|
||
|
|
If the frame selection does not match your vehicle, first select the correct frame in the [Frame](../setup_view/airframe_ardupilot.md#ardusub) tab.
|
||
|
|
|
||
|
|
To manually set up and test the motors, read and follow the instructions on the page.
|
||
|
|
|
||
|
|
::: warning
|
||
|
|
Make sure the motors and propellers are clear from obstructions before sliding the switch to arm the vehicle and enable the test!
|
||
|
|
:::
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
## Automatic Direction Detection {#automatic}
|
||
|
|
|
||
|
|
Ardusub 4.0 and newer support automatic detection of the motor directions.
|
||
|
|
This works by applying pulses to each motor, checking if the frame reacts as expected, and reversing the motor if necessary.
|
||
|
|
The process takes around one minute.
|
||
|
|
|
||
|
|
To perform the automatic motor direction detection, navigate to **Vehicle Setup->Motors** tab, click the **Auto-Detect Directions** button and wait.
|
||
|
|
Additional output about the process will be shown next to the button as it runs.
|
||
|
|
|
||
|
|
::: warning
|
||
|
|
This procedure still requires that the motors are connected to the _correct outputs_ as shown in the frame view!
|
||
|
|
:::
|
||
|
|
|
||
|
|
|