ATMower 4WD Speed Control and Obstacle Detection Turn Off

An upgrade of GPS waypoints navigation on ATMower cart type, this time we have a closed-loop velocity controller to adjust the speed of mower in realtime. The Lidar is detecting the obstacle nearby (especially human or trees) then mower's engine for safety.

[@admiretechnologies1218]

I am working on something similar. I’d like to use Pixihawk for gps but no interrupt pins for wheel odometry. (Presently I have a teensy for encoder.)

[@FilmFactry]

Question: do you know or know of any projects that reuse DC motors and optical encoders recovered from old inkjet printers. I salvage these. And I have a very nice rotational optical encoder from the paper feeder. And one from the left/right print head with a very fine pitch clear tape with marks for the optical positioning. I'd like some library for arduino, that can read the optical position and drive the DC motor. Like a servo motor. Thanks.