Cross Track - Ag Leader EDGE User Manual

Cross Track

across the AB Line.
Cross Track's Simple Analogy: Cross Track Error could be viewed as the volume at which Cross
Track talks to Steering.
- Too High: If Cross Track speaks "too loudly" to Steering, Steering over responds to Cross Track's
commands and the tractor oscillates across the AB Line. Cross Track Error is set too high and
should be lowered.
- Ideal: If Cross Track speaks at the "ideal volume" to Steering, Steering responds just right and the
tractor does not oscillate or wander across the AB Line. Cross Track Error is set correctly.
- Too Low: If Cross Track speaks "too softly" to Steering, Steering is not responsive enough to Cross
Track and the tractor wanders across the AB Line. Cross Track Error is set too low and should be
increased.
Cross Track Error also does two things:
- First, it adjusts the volume at which Cross Track talks
to Steering.
- Second, it adjusts the offline tolerance at which Cross
Track tries to hold the tractor on the AB Line.
The higher Cross Track Error is set, the louder
Cross Track talks to Steering; and the tighter
Cross Track tries to hold the tractor to the AB
Line. The lower Cross Track Error is set, the
softer Cross Track talks to Steering; and the
more relaxed Cross Track is at holding the tractor
to the AB Line. Cross Track Error should be set
as high as possible so that the tractor stays close
to the AB Line, but does not oscillate or wander
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