Realization of the special M/T method on a tiny crawler-type cultivator

In developing a tiny crawler-type cultivator, the chassis speed needs to be accurately obtained in order to meet the requirements of precision agriculture for straight walking. This paper focuses on solving the problem of chassis speed measurement. Firstly, the principle of speed measuring device and the special M/T method is introduced. Then we use STM32F407ZGT6 as the hardware development environment and give the program flow chart to achieve the special M/T method. Finally, according to the demand of this project, the experimental results are obtained by taking different data, which prove the reliability of the special M/T method.