I added code to make turns. https://www.youtube.com/watch?v=oPI7f5kQRKo I did all of my work in the "driver" script today. I'd like to break out navigation into its own node but I needed to make quick progress today so I was concentrating on just making it work. I think in terms of sequences: raise the tool, throttle down, turn, wait, stabilize, drop tool, throttle up. (The tractor easily does a better job than I would. And I'm still tweaking it.) I'm not programming it that way, though. Instead, I'm setting the controls based on the current state. 1. If I am within 14 meters of the end line, increment the path offset and reverse the direction. 2. If I have a large steering correction to make, raise the tool, set the throttle low. 3. If I don't have a large steering correction to make, increment a counter so I know when I've stabilized. 4. If I've stabilized for a bit, drop the tool and set the throttle high. If things go wrong, this all falls apart quickly, but for now it works. I will need to do a lot of re-coding before it goes out on its own. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: