Steps to set up a agrivator on vMC for autonomous operations and how the Agrivator functions.
vOS 1.13.0 Is required to utilize the Agrivator
Creating the equipment in vMC
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1. Generate a new equipment under the Aerator type. |
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2. Fill out the equipment measurement details 3. Set the implement Control to Rear 3pt-Hitch 4. Set the configuration to Agrivator w/ 3-Point Hitch a. This is what will tell the equipment to use the smart sequence |
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The implement's equipment settings will need to be edited after a update to vOS 1.15.0
Change the Configuration on vMC to "Agri-vator w/ 3-Pt Hitch" with the description "Requires vOS 1.15.0+" which will add safe PTO controls to the Agri-vator and prevent the PTO from being engaged when the implement is raised.
Operation
The agrivator must be able to get from the raised location to the lower location in less than 5 seconds. Hydraulic flow rates may need to be adjusted to achieve this.
The Agrivator definition follows a sequence of events, and determines when and where to start that sequence of events based on the situation the implement is currently in. For standard operation, an operator only needs to resume navigation and pause navigation. The system will determine what it needs to do and will handle the rest.
Desired States
| Location of Implement | State of 3-Pt hitch |
| Working Pass | 3-Pt hitch is Lowered |
| End of row turn | 3-Pt hitch is Raised |
| Traversable hole | 3-Pt hitch is Raised |
| Transit Pass | 3-Pt hitch is Raised |
PTO control
The agrivator definition will control the PTO autonomously. Below is expected state of the PTO during navigation. The PTO is always commanded to be off when the system is paused.
| Location of Implement | State of PTO |
| Working Pass | PTO is ON |
| End of row turn | PTO is OFF |
| Traversable hole | PTO is OFF |
| Transit Pass | PTO is OFF |
Sequence Definition
If a step(s) within the sequence is already met, the system will skip over that step of the sequence.
The next step in the sequence will not be conducted if the previous step fails.
Implement is currently Raised, and needs to Lower
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Vehicle will pause navigation
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3-Pt Hitch will lower
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System will wait 5 seconds for the 3-Pt Hitch to lower
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Pto will engage
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Vehicle will resume navigation after PTO engagement
Implement is currently Lowered, and needs to Raise
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Pto will turn off
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3-Pt Hitch will raise
Remote control on vMC - Raise & Lower buttons
The same sequence used for raising and lowering the system autonomously mentioned above is used for the "Raise" and "Lower" buttons on vMC. However, manually raising or lowering on vMC will not resume navigation or engage PTO.
Pausing navigation
If the PTO is on, the system will turn off the PTO while it is pausing.Resuming navigation
It is recommended to have the 3-Pt hitch in the desired state based on its location before resuming navigation
FAQ
- Do I need to turn on the PTO before beginning navigation?
- This is not required, as it will be handled by the sequence. But can be manually turned on if desired.
- How can I control my hydraulic lift assist wheels?
- This is not currently supported
- Operators can request custom implement control using sequencing by visiting this form here.
Troubleshooting
- vMC Raise or Lower button is unresponsive
- Use the + or - buttons under the 3-Pt hitch control on vMC to move the hitch to the desired state, then the Raise and Lower buttons will function
- System is pausing or failing to execute a sequence
- Ensure the implement is Raised or Lowered as defined in the desired state chart
- Wait 20 seconds before attempting to resume navigation