Audi AADC2017, Hardware Description

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Calibration
31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description
32
3 Calibration
3.1 Speed Controller Setup
Usually, you do not need to calibrate the Speed Controller because this is already done prior to the
vehicle delivery. The Speed Controller Setup does a mapping from the received PWM Signal (from the
Arduino or the Radio Remote Control) to the minimum and maximum range of the motor.
If for any reasons, it is necessary to do this again, please follow these instructions:
1. Start the Car, Switch Speed Controller on, load and start the
SpeedControllerCalibrationConfiguration Project (Please see the
“ AADC2017_Software_Description”
). Make sure the Property Enable Speed Controller Fallback
of the Filter Car Control is turned to False.
2. Press the setup-button of the Speed Controller for more than a second. The green led will start
to indicate the pressing will start to light continuously if the button is released now.
3. Now the full throttle has to be transmitted to the steering controller. The red light will confirm the
full throttle position, then you have to release. The full throttle can be transmitted from ADTF
from the Car Control Filter by moving the bar to topmost position.
4. Now the maximum Reverse has to be transmitted and will be confirmed by red and green light.
Release to zero position again. The maximum reverse can be transmitted from ADTF from the
Car Control Filter by moving the bar to lowermost position.
5. The Controller will proceed with some blinking and peeping to confirm the calibration.
For further details, refer to the manual of the controller:
http://www.robitronic.com/en/manual-
robitronic.html?file=files/anleitungen/robitronic/Speedstar_Brushless_Crawler_Manual.pdf
NOTE: The speed controller needs the zero position at startup phase. When the speed controller is
powered on it does some first beeping and the red LED is turned on and it waits for the zero position.
After receiving it the green LED turns on and it does some beeping. This zero position is set during the
described setup procedure.
3.2 Steering Calibration
The steering calibration consists mainly of a mapping from the servo angle to a valid curvature. You can
do this by the Steering Calibration Filter and is described in
the “ AADC2017_Software_Description”
.
3.3 Adjustment with Potentiometers
On the Actuator Board are two potentiometer mounted which can be used for fine adjustment of the
steering servo and the speed controller.