# Aion Robotics R1 UGV

<Badge type="tip" text="PX4 v1.15" /> <Badge type="info" text="Discontinued" />

:::warning
This vehicle has been discontinued and is no longer available from its manufacturer.
It is still available for purchase from other vendors (e.g. second hand).
:::

The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).

The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicle.

Currently, PX4 supports MANUAL mode for this setup.

![Aion Robotics R1 UGV](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)

## Parts List

- Aion R1 (Discontinued)
- [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
  - [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
- [Auterion Skynode](../companion_computer/auterion_skynode.md)

## Assembly

The assembly consists of a 3D-printed frame on which all the autopilot parts were attached.
For this build this includes an [Auterion Skynode](../companion_computer/auterion_skynode.md), connected to a Pixhawk Adapter Board that interfaces with the RoboClaw motor controllers over serial.

![R1 Assembly](../../assets/airframes/rover/aion_r1/r1_assembly.png)

::: info
If using a standard Pixhawk you could connect the RoboClaw to the Autopilot without an Adapter Board.
:::

The RoboClaw should be connected to a suitable suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
Other RoboClaw wiring is detailed in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) 'Packet Serial Wiring' section and shown below (this setup has been validated for compatibility).

![Serial Wiring Encoders](../../assets/airframes/rover/aion_r1/wiring_r1.jpg)

## PX4 Configuration

### Rover Configuration

Use _QGroundControl_ for rover configuration:

1. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
1. Choose **Aion Robotics R1 UGV** under the **Rover** category.

![Select Airframe](../../assets/airframes/rover/aion_r1/r1_airframe.png)

### RoboClaw Configuration

First configure the serial connection:

1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
   - Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
   - [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
     This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
     Adjust the value based on your specific encoder and wheel setup.
   - RoboClaw motor controllers must be assigned a unique address on the bus.
     The default address is 128 and you should not need to change this (if you do, update the PX4 parameter [RBCLW_ADDRESS](../advanced_config/parameter_reference.md#RBCLW_ADDRESS) to match).

     ::: info
     PX4 does not support multiple RoboClaw motor controllers in the same vehicle — each controller needs a unique address on the bus, and there is only one parameter for setting the address in PX4 (`RBCLW_ADDRESS`).
     :::

Then configure the actuator configuration:

1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
1. Select the RoboClaw driver from the list of _Actuator Outputs_.

   For the channel assignments, disarm, minimum, and maximum values, please refer to the image below.

   ![RoboClaw QGC](../../assets/airframes/rover/aion_r1/roboclaw_actuator_config_qgc.png)

   For systems with more than two motors, it is possible to assign the same function to several motors.
   The reason for the unusual values, can be found in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) under `Compatibility Commands` for `Packet Serial`:

   ```plain
   Drive motor forward. Valid data range is 0 - 127. A value of 127 = full speed forward, 64 =
   about half speed forward and 0 = full stop.
   ```

## See also

- [roboclaw](../modules/modules_driver.md#roboclaw) driver
- [Roboclaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf)