Install odometry on wheel motors without sensors

[RonPeeters]

Hi all,

Yesterday I was donated the corpse of a robot mower. I checked and all the motors and switches are working good.


Now I want to revive this body with the ardumower 1.4 pcb and the Azurit(Ber) firmware.

The only thing the wheel motors are lacking, is odometry sensors.

Is there anyone who has experience with adding odometry to a rover body and was succesfull with this?
Could you give some advise?

N.B. I searched the forum for old entries, but was unable to find anything useful...


Picture of his insides:

 

[CrazyJ]

Hello,
you can print a wheel and put magnets into it. Clipsing the wheel on the backside of the motors (see pictures) and use the Hall sensor 3144.

 

[RonPeeters]

Thanks @CrazyJ
Do I see it correctly, the disc is attached by using a magnet? Is that reliable?
Thanks for your response, great suggestion

 

[bernard]

It's complex but it's better to do a M2.5 hole in the axis of the motor and screw the disk.
Rebuilding this kind of mower is very easy with teensy PCB version , because it's smaller and perimeter signal reading is more stable.
Here some picture of the ODO , full assembly and video result.
I use a odo kit but don't remember where i order it , the best solution like mentioned by @CrazyJ is the magnet and 8 magnet with ooposit Nord Sud location (See RL1000) rebuild for that .
A KY-003 module is perfect to read the magnet signal.

TEENSY PCB WIRING

Some picture of the wiring. Main PCB (5V / 3.3V Pcb including ESP32,Teensy4.1 and GY-521) ,it's brain of the robot Power PCB (24V pcb for max 5 motors and battery management) , each motor have a current control using INA226 current sensor Here shunt on the 6 INA226 USE R010 instead R100 on the...

www.diy-robot-lawn-mower.com

And 4 IBT-2 driver fo rall the motor

 

[CrazyJ]

It is correct. The disc is attached by using a magnet.
I use ist since one year and many hours of mowing and it works perfekt without any problems (Sunray Firmware).