Open-source CANbus wheelchair controller

[LROBBINS]

I have just uploaded a draft builder's and user's guide for my CANbus controller. I would appreciate your comments and criticisms. It can be retrieved at:
https://drive.google.com/open?id=0B3svXvyPGRgreXFKSlZDVThWSTg

If you would like copies of any of the program or electronics design files, please send me a PM.

Ciao,
Lenny

[Burgerman]

Well I read it... Cant say I get all of it yet.

[Gnomatic]

Wow Lenny this looks amazing! Great work.

[c500user]

Hi Lenny,

Thanks! I have downloaded the file and will read in the next days.

c500user

[ex-Gooserider]

I have downloaded it, and think that you did a really good job on it... My first read through I only spotted one really confusing area - On page 12, where you talk about how the Roboteq (mis)uses the CAN ID field, it looks to me like you are mixing bits and bytes in the same discussion, where I *THINK* you mean to only be using bits (assuming I am properly understanding the earlier discussion of the CAN ID field)....

ex-Gooserider

[LROBBINS]

Quite right - should have been bits throughout that paragraph.

[LROBBINS]

I've just uploaded a revised version of the complete system, hardware and software, to GoogleDrive. This revision includes my latest attempts at getting good motor compensation without the use of motor current sensors. I've also included an analog version of the Roboteq script for those who might want to try it (but, warning, this is mostly untested so do be cautious). The files are at: https://drive.google.com/open?id=0B3svXvyPGRgral9FU2lJZlpHdFU

[LROBBINS]

Here's a link for the latest revisions of all of the CANbus controller:https://drive.google.com/drive/folders/1ysOoYG8mwlvJy0023XwJUgclYXbO1ulS?usp=sharing
The revisions include:

changes based on experience with the first set of fab shop made circuit boards

revisions to Manual, board and programs to accommodate my mechanically-simplified "smart" tilt & lift system (don't worry, the programs automatically know whether to use this or conventional lift and tilt mechanism). These include some pin assignment changes, substantial code changes, and a description of the added (optional) Aux2 module.

The Roboteq script now:

automatically recognizes whether the controller has accurate, internal estimation of motor current (on newer Roboteq models) or estimates motor current from battery current and includes an enhanced algorithm for estimation from battery current. It allows use of external motor current sensors or the best internal estimates, and automatically switches to estimation if an external sensor fails.

boosts acceleration and deceleration when MotorCompensation changes Throttle and Steering

and a number of other smaller changes to make driving more pleasant.