Plow

Demo Videos

On the left are two videos showing the range of motion the plow has just hot wiring the linear actuator on the bench supply, and after the control system was implemented.

Design

The plow had a few basic requirements;

Raise high enough to clear the frame while turning
Use a four bar linkage to keep the plow vertical
Be able to sense terrain change and adjust with changes of more than 3 to 4 inches

Control System Diagram

Control System Design

This control system was designed with the intention of having two echo sensors comparing values, that way the system can quality check the values it is reading and be able to tell if a large difference was continuous and an actual hill compared to a bump in the snow. For the demo of this system, I only had it working with one sensor following the profile of the top of snow, or in my case, a box.

All of the models for this plow that were designed and printed are included in the zip file located on the "Presentations and Final" tab.

Plow Code

Here is a copy of the final plow code that was made, this was not totally integrated and ran off a seperate KL25Z. The base of the file was copied from the initial threaded tanks code, so there are some copied initializations.

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