Autonomous mini-tractor

I whipped up a quick web server and the mini-tractor moves!

I finally received the new speed controllers. They're now wired up to the Pi through a quick resistor bridge I made to do the DAC conversion for the throttle.

From here on out the project will be mostly focused on coding the web server and training the deep learning algorithm.

The teardown of the hoverboard is done! I laid out electronics and wheels to get an idea of what it'll look like.

My kids finally got bored of the hoverboard and I've started tearing it down. I wasn't sure how to control the wheels, there are a few projects where folks use custom firmware. At this point I really don't want a solution that requires that much effort, and even down the road I'll probably just buy a proper ESC.

For now I decided to stick a relay board on the wheel's power lines and leave the current hardware/firmware intact. As long as the pcb is mounted at an angle the hoverboard will always try to send power to the wheels, which I can start/stop with the relays.

I got the frame welded up and threw on some lawn mower wheels and threaded rod to test the double-articulation. I was afraid it might be too sloppy, but it's actually very solid and should ensure that the mini-tractor has good traction. The turn radius is super tight as well.

I should receive the hoverboard this week.

I scavenged some angle iron and tube and cut up the parts for the frame. The articulation moves the right way, I'm happy I didn't screw that up.

Unfortunately I'm waiting on an order of welding rods, coronavirus restrictions in these parts don't allow us to go to stores unless it's essential.

There's my old 1952 Fergy TEA-20 in the background, she still pulls out my firewood every spring and hauls a wagon around for rides.  She's part of the first generation of tractors which replaced horses and runs great even after 68 years of hard work.