[WIP] custom autohelm project

[hyperzap]

Wanted to share something I've been working on & see if anyone has done something similar! I'm currently just working on getting the mechanicals sorted, but hoping to have something up and running by mid-summer.

Before I start: I know this is not to be relied upon - my only use for this is going to be at hot-idle speeds (3-4kts) so I can chill on the bow and watch the sunset while keeping watch.

The current CAD design for the mechanicals

• Should be able to engage / disengage the autopilot just by raising the wheel
• In a pinch, anyone grabbing the steering wheel should be able to overpower the gears meshing + cause a safe upwards deflection of the motor mount.

Test-fitting the base mount. Ive re-designed the motor mount since then (see CAD), as those ziptie friction fits were trash.

I haven't tested the mounting for the wheel gear yet, but the plan is to print it in three slightly-undersized parts and hose-clamp it tight to the wheel in the same fashion as the base mount.

For the electronics, I'm using an ESP32 board connected to a brushed motor controller. The motor has a quadrature encoder on the back too, so I can monitor the exact position of the wheel. I'll use a second ESP32 with a GPS attached as the user interface and to transmit the current course.

Software-wise, I'll implement a closed-loop PID controller to translate the delta between current/desired course to motor commands, using the encoder as position feedback.

Ive finished printing the gears, so next time I'm dockside I'll try the full assembly and see what kinks need to be sorted out next!

 

[Skybolt]

Can you elaborate on the use and what exactly your trying to do? That isn't very clear in the above. Some sort of auto pilot connected to what? Also where are you getting a "course" from? Not the GPS heading, but the course you will follow.