This Do-It-Yourself (DIY) project describes how you can convert your ordinary gasoline mower for about 250 EUR into a remote controlled (R/C) mower using Ardumower parts.
- 2x gear motors running at 31 rpm, 2.45 Nm
- powered by 29.4v Lithium-Ion battery
- wireless control via 2.4 Ghz model R/C control
Click on a part for more details:
- 2x 260mm tires
- this 3d printed tire adapter or this one
- 1x free wheel
- 2x clamping elements
- 2x Ardumower gear motors
- 2x motor drivers BTS7960
- 1x Ardumower Power pack charger
- 1x Ardumower Power pack battery
- 1x DC/DC converter
- 1x Arduino Nano
- Arduino Nano I/O shield
- a 2 channel model R/C receiver and a remote control (e.g. 2.4 Ghz R/C control)
- 1x fuse holder
- 1x fuse 4A
- 1x diode 10A
- 1x emergency switch
- 1x charging socket
- Arduino wires female-to-female
- 2 meter wire, 0.5 mm^2 section for wiring motor drivers
- 5x M8x80 screws, nuts, slices for mounting free wheel
- 8x M4x90 screws, slices for mounting tire on clamp
- 8x M4x15 screws, slices for mounting gear motors
Find a place on your mower for the gear motors. Use the clamping elements and the tire adapters to attach the tires to the motors.
For all technical users, here are the specifications of the gear motor (gearbox with ball bearings):
Use 4 screws and a plate to support the free wheel.
Mount the Ardumower Power Pack battery, emergency switch, fuse holder, BTS7960 motor drivers, Arduino Nano, DC/DC converter and the model R/C receiver in a box.
Connect the components as shown below. The emergency switch is to switch on and off the battery. The fuse holder will hold the 4A fuse. The diode is used to get down the battery voltage by at least 0.5 volt so the overvoltage protection of the BTS7960 motor drivers does not take place when the battery is fully charged. The DC/DC converter converts the Ardumower Power Pack battery 24v down to 9v for the Arduino voltage input. The motor drivers control the two motors via the Arduino Nano. The signal of two model R/C receiver channels are sent to the Arduino Nano allowing the user to steer the mower and to control the speed. The charging socket is used to connect the Ardumower charger for charging the battery.
Wiring Arduino and motor drivers
Connect your left BTS7960 motor driver to these Arduino pins:
left BTS7960 Arduino pin GND GND VCC +5V R_EN A1 L_EN A0 R_PWM 9 L_PWM 10
Connect your right BTS7960 motor driver to these Arduino pins:
right BTS7960 Arduino pin GND GND VCC +5V R_EN A3 L_EN A2 R_PWM 3 L_PWM 11
Wiring Arduino and model R/C receiver
On your R/C transmitter, you will need 2 channels (speed, steering):
Connect your model R/C receiver 2 channels (speed, steering) to these Arduino pins:
model R/C receiver Arduino pin GND GND VCC +5V CH_Steering 5 CH_Speed 6
Arduino code upload
Finally, download the Arduino IDE and upload this code to your Arduino Nano:
- Download and install Arduino IDE
- Upload this code to your Arduino Nano: https://github.com/Ardumower/ardumower/blob/master/code/tests/rcmower/rcmower.ino
Note: After uploading, you can run the Arduino IDE serial console (CTRL+SHIFT+M) at 115200 baud to monitor the R/C signal coming in:
steer=0 speed=100 mleft=255 mright=255 steer=0 speed=100 mleft=255 mright=255 steer=0 speed=100 mleft=255 mright=255 steer=0 speed=100 mleft=255 mright=255 ...
Happy mowing! :-)