Raven OMNiDRIVE, Installation And Operation Manual

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Autonomous Operation Overview
Proportional Gain
The proportional gain value is an indicator of how reactive the tractor steering is. This value
is the ratio of steering effort to the current wheel angle detected. Increase the proportional
gain to make the steering more aggressive or reduce the value to make the response more
smooth.
PWM Min
The minimum pulse width required for controlling the steering valve. A higher value may
allow the steering system to respond more rapidly to steering inputs. A value that is too high
may cause the machine to steer too aggressively and will be jittery while trying to maintain a
straight line.
PWM Max
The maximum pulse width which provides control response during operation. A value too
low may limit the speed which the system allows the machine to steer. A higher value may
allow more rapid movement of the machine steering while a value too high may create
additional heat or advanced wear in the hydraulic system.
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