View source for DIY Lawnmower 2023

== Introduction ==

2 wheel drive using kids ATV chassis with 3" wheels without differential but with steering, 2x350W motor; speed controller.

https://www.kuldnebors.ee/search/search.mec?pob_action=search&search_O_string=atv&search_source=kwc

Arduino + GPS + IMU


Consider also
* ArduPilot https://ardupilot.org/rover/docs/gettit.html
* Cube Orange https://ardupilot.org/copter/docs/common-thecubeorange-overview.html

== Theory == 

=== Wheels and tires ===


Ulkohalkaisija täynnä noin 36cm (6")
* https://www.tuontitukku.fi/pienkone-vene-ja-varaosa/monkijan-rengas-vanteella-145-70-6-taka-eturengas-145-70-6-vanteella/p/6419773657219/
* https://www.tuontitukku.fi/pienkone-vene-ja-varaosa/monkija-rengas-vanne-vasen-7-lasten-monkijan-rengas-vanteella/p/6438471012071-s/

=== Current ===

=== Heat Dissipation ===

=== Motor ===

Torque, Speed, Duty Cycle

Vvor 24V 350W Nennstrom: 18,4A Brushed Permanentmagnetmotor Gear Reduction  Packungsgröße: 22 x 19 x 17 cm (8,66 x 7,48 x 6,69 Zoll) Bruttogewicht: 3,05 kg 
* https://www.ebay.de/itm/134260101005?hash=item1f42868f8d:g:t1kAAOSwf0ljOTPG&amdata=enc%3AAQAIAAAA8Ao6wUUoT1WDjHCODdl3m2xH255xL30h99ZcuqQSUjSyt7JvM02btIHsmHAXNg8FOqT0oIQPQ1KEC%2BnLal19zabXO%2FLykrgs0JxbSzZ8Wn4lngUubdhcxlNQ9op1Sb4uRV9cEiDEpRE8FClxXNuuwthOD1ZohDHUaSX2pwc4qnR15VhyL%2BrjcdeHNSCwr5vR7opzR4d5lTXLmMAF%2F4N%2BAWB1l1EexFKuGxqAR7dT0KqQ6pl9WV44uaR0jWWJPDtfi3zOEBwXzrODyMSYV3K71T23rYouoCzlAZCzlSftYSI9QHaSTRe6hc%2F%2FqWAFoGA42A%3D%3D%7Ctkp%3ABk9SR5qVyrn6YQ


    410-9T Kettenrad

9 Zahnrad für Kette Nr. 410, Teilung 12,7 mm. Besonders gut für Heimwerker geeignet, da der Antrieb mit Standard-Fahrradketten (1/2 Zoll Teilung) kompatibel ist

=== Motor Speed Controller BTS7960 ===

We use BTS7960 based speed controller with max 43 Amps current. The datasheet is available at https://electropeak.com/learn/download/bts7960-43a-motor-driver-datasheet/

Example code from https://electropeak.com/learn/interfacing-bts7960-43a-high-power-motor-driver-module-with-arduino/

Pins
* VCC:  5V
* GND: Ground
* IS-R: Input signal for detecting high current – Straight rotation
* IS-L: Input signal for detecting high current – Inverse rotation
* EN-R: Output Signal for controlling motor direction – Straight rotation
* EN-L: Output Signal for controlling motor direction – Inverse rotation
* WM-R: PWM Signal for controlling motor speed – Straight rotation
* PWM-L: PWM Signal for controlling motor speed – Inverse rotation
Motor pins (High current):
* M+: Motor Positive; M-: Motor negative
* B+: Battery positive; * B-: Battery negative



Some instructions:
* https://www.homemade-circuits.com/dc-motor-speed-controller-circuits/
* https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/
* https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/


'''Extra things''' and older thoughs.

Use PWM. Feedback? Arduino L298N H-bridge.

Arduino pwm motor controller 300W 36V 20Amps
* https://www.pololu.com/product/755
* https://www.infineon.com/cms/en/product/evaluation-boards/bldc-shield_ifx007t/
* https://www.infineon.com/cms/en/product/evaluation-boards/kit_xmc47_relax_5v_ad_v1/
* https://www.canakit.com/50a-dc-pwm-motor-speed-controller.html


https://electropeak.com/learn/interfacing-bts7960-43a-high-power-motor-driver-module-with-arduino/

High power dc motor speed controller
* https://www.ebay.de/itm/255283289430?hash=item3b7011dd56:g:ooAAAOSwhexb6eW9&amdata=enc%3AAQAIAAAA4Gjfo%2FMILLwl3G9ygIqNAj7fpl%2FtigoAQMba%2FwqTqxj%2F4nqjin1d6Re7Jqa2XBzZBTYTsTZEUjiXEhH%2BpvJd1RaWoR5%2FsWhgtcwpXnTrpL1Y5wDPHZ1wJJTmdK4mb4LOQLw%2BmqT%2B9tcOBX%2BAwD37WZcEfTk3P5B6boz%2BRV7G1fj3KiqeZ%2B0ZA98o9mIFBOG2E6fxDo9K3cQN2u5M53jQ7PrP6%2BjtJTGNnfCQA0tuOE8V8bAfFmBRCnPAFt001aTDSAUCuyxzZNQK%2FaKJMdzbLnmLjxgPMQmkSpSDCFQrBg8D%7Ctkp%3ABFBM6Ie9uvph
* Amazon: Songhe BTS7960 43A, HiLetgoBTS7960 43A,  Melife PWM 10-50V 60A,
* https://www.ebay.de/itm/123021644824?hash=item1ca4a95418:g:nbkAAOSwFwlgA~qm&amdata=enc%3AAQAIAAAA4D2ya%2FD4v6plC%2B8Wi7%2BlXiqyFvx9ZVmTFiGrhSZCNY2YnjdXjYQSdBGKApiC33DWt5chAE5RKlktpUjFvfAH7zshCx42W8yONOQ4zchZuo1246qn5qB8HmRBhVVuQ4urPQKY5239P%2FA%2BODko%2BEp8V0A2%2FuEAhTO2Dxs5GGNBIJL45pGyQFEMNEa8NpisE0ebKnTokdhtuJVPQNap6U0DW1jeEwasXUUanOoWC0uDn%2Bt2gC3ulFIBbXn1epQw3wCnTR1iOv%2BRR%2Fz5KjKpYRsaZfmprbV7gONgMIgdZ3QgdJ%2B6%7Ctkp%3ABk9SR7rT4rf6YQ
* https://www.ebay.de/itm/165676940912?hash=item26931d7e70:g:q8YAAOSwVM1jIqNq&amdata=enc%3AAQAIAAAA4CKa5nRcyz0RlXcN3Iw7mhcTalyBSBfC33bdLn08wqjCcgaPgKgjMgdkmbwdwGTC6QibwZ7WjVqyWysp7Uh97reXnrw5Srml4CJ9O%2FyBC8wqga6cohaq7tBAZOgFx9G1PP9PzZ7QEYWiGCiR4%2F55MdLP8kI%2B4gynCWyknKAlshev5BExzvKvazuC0SGQQEqT6WFZy6m%2Bp1jw7jwGlg8I8dFZ0O5s%2Fizj6E7DzlotaLFb8OiyJKRzpuPZSo2vpAM2Q5831W6kODRgLCo0N0QlmaU5HUxUq4AEXCiPrsit0W7R%7Ctkp%3ABk9SR7zT4rf6YQ
* MD25HV https://makermotor.com/pn00218-cyt13-25amp-7v-58v-high-voltage-dc-motor-driver-speed-controller-md25hv/