retropilot-drivetronik

sensors and actuators for retrofitting old vehicles with autonomy

Current parts list:

Part	Link
350mm Bearing	https://www.amazon.com/TamBee-Aluminum-Rotating-Turntable-Dining-Table/dp/B071FL5QR3/ref=sr_1_27?crid=I8JBQUCOKBSE&dchild=1&keywords=lazy+susan+bearing&qid=1611597016&sprefix=lazy+suzan+bea%2Caps%2C188&sr=8-27
Ball Bearings	https://www.amazon.com/uxcell-Groove-Bearings-Double-Shielded/dp/B0819927WR/ref=sr_1_6?dchild=1&keywords=3mm+ball+bearing&qid=1611150733&sr=8-6
AS504B Boards	https://www.mouser.com/ProductDetail/ams/AS5048B-TS_EK_AB?qs=Rt6VE0PE%2FOduJIB%252BRfeBZQ%3D%3D
L298N driver	https://www.amazon.com/Qunqi-2Packs-Controller-Stepper-Arduino/dp/B01M29YK5U/ref=sr_1_6?crid=1M01FN9LFBNPM&dchild=1&keywords=l298n&qid=1611150995&sprefix=L298%2Caps%2C153&sr=8-6
ZT230 Stepper	you can probably find this on eBay

Theory of Operation

the sensors are connected by I2C to an Arduino. this will be replaced with another micro soon, but currently it's being used to develop an algorithm for determining the absolute position of the actuator.

the stepper will be driven by field oriented control and will have a constant torque vector towards the zero position. this will be used to determine override and input torque without the need of a torque sensor.