Ardumower Gasoline

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This Do-It-Yourself (DIY) project describes how you can convert your ordinary gasoline mower into a remote controlled (R/C) mower using Ardumower parts.

Ardumower gasoline rc.png

Ardumower gasoline1.jpg Ardumower gasoline5.jpg Ardumower remote.jpg

Video

Video.png Click here for video

Features

  • 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

Parts list

Overview

All parts can be purchased in the shop Shopping.png. Click on a part for more details:

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.

Ardumower gasoline3.jpg Ardumower gasoline6.jpg

Free wheel

Use 4 screws and a plate to support the free wheel.

Ardumower gasoline4.jpg Ardumower gasoline8.jpg

Control box

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.

Ardumower gasoline2.jpg Ardumower gasoline7.jpg

Wiring

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.

Ardumower gasoline schematics.png

Wiring Arduino and motor drivers

Bts7960.jpg

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

Rcreceiver.jpg

Connect your model R/C receiver to these Arduino pins:

model R/C receiver   Arduino pin
GND                  GND
VCC                  +5V
CH_Steering          5  
CH_Speed             6

Arduino code upload

Arduinonano.jpg

Finally, download the Arduino IDE and upload this code to your Arduino Nano:

  1. Download and install Arduino IDE
  2. 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
...

Questions, help, discussion

German: http://www.ardumower.de/index.php/de/forum/eure-ardumower-umsetzung/1431-ardumower-gasoline-r-c-benzinrasenmaeher#13672

English: http://www.ardumower.de/index.php/de/forum/your-projects/1432-ardumower-gasoline-r-c-conversion#13674