CenterLine
U s e r G u i d e
98-05054
USER GUIDE
Software Version 1.07
98-05054
R3
CenterLine
Software Version 1.07
Copyrights
© 2002 Midwest Technologies Illinois, LLC. All rights reserved. No part of this document or the computer
programs described in it may be reproduced, copied, photocopied, translated or reduced in any form or by
any means, electronic or machine readable, recording or otherwise, without prior written consent from Midwest Technologies.
Trademarks
Unless otherwise noted, all other brand or product names are trademarks or registered trademarks of their
respective companies or organizations.
Limitation of Liability
MIDWEST TECHNOLOGIES ILLINOIS, LLC PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED. NO COPYRIGHT LIABILITY OR
PATENT IS ASSUMED. IN NO EVENT SHALL MIDWEST TECHNOLOGIES BE LIABLE FOR ANY
LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERUPTION OF BUSINESS, OR
FOR INDIRECT, SPECIAL, INCIDENTIAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND,
EVEN IF MIDWEST TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES ARISING FROM
TEEJET SOFTWARE.
ii
CenterLine
Software Version 1.07
Table of Contents
Introduction........................................................................................................................2
About CenterLine ..........................................................................................................2
What’s new in Version 1.07 ..........................................................................................3
About this User’s Guide ................................................................................................4
Wireless Remote Control...............................................................................................6
CenterLine Lightbar.......................................................................................................7
CenterLine Quick Start-up ...............................................................................................8
General Start-up Sequence.............................................................................................8
First Time Start-up Sequence ........................................................................................8
CenterLine Product Kits ...................................................................................................9
CenterLine Kit without DGPS Receiver........................................................................9
CenterLine Kit with RX 360p WAAS DGPS Receiver ..............................................10
CenterLine Kit with RX 350p WAAS DGPS Receiver ..............................................11
CenterLine with RX 400p DGPS Receiver .................................................................12
CenterLine Setup .............................................................................................................13
Guidance Setup ............................................................................................................14
Lightbar Setup..............................................................................................................21
System Setup................................................................................................................26
CenterLine Setup Flow Diagram .................................................................................28
Tools ..................................................................................................................................29
Receiver .......................................................................................................................30
Lightbar........................................................................................................................30
e-Dif .............................................................................................................................30
e-Dif Info .....................................................................................................................31
Demo............................................................................................................................31
Next..............................................................................................................................31
To Start ........................................................................................................................31
CenterLine Real-Time Operation ..................................................................................32
Starting Real-time Operation .......................................................................................32
Real-time Operation.....................................................................................................33
Real-time Menu ...........................................................................................................33
Return to Point .............................................................................................................36
Exiting Real-time Operation........................................................................................36
Headland Guidance Operation.....................................................................................37
Straight-line Guidance Operation ................................................................................43
Curve AB Guidance Operation....................................................................................45
Applied Area Detection ...............................................................................................47
Lightbar Index .................................................................................................................49
iii
CenterLine
Software Version 1.07
iv
CenterLine
A lightbar guidance system with wireless remote control.
Software Version 1.07
CenterLine
MENU
ESC
CenterLine
CenterLine
UP
DOWN
CenterLine
Midwest Technologies IL, LLC
CenterLine
CenterLine
Software Version 1.07
Introduction
About CenterLine
CenterLine is a low-cost lightbar guidance system, controlled by a wireless remote. CenterLine
provides accurate straight-line and curved guidance, for use in spraying, seeding, and other
related jobs at a cost that rivals foam markers. The CenterLine product comes with a combination
Beacon/WAAS or WAAS only DGPS receiver, providing sub-meter, pass to pass, positioning accuracy. The wireless remote control is used to set-up and operate the system through menus and
options displayed on the lightbar.
CenterLine’s attractive design combines a compact size with easy to see LEDs that are fully
adjustable. Using dedicated buttons on the wireless remote, the lightbar can be dimmed to efficiently run at night and brightened to be easily seen in full sunlight.
Straight or Curved Guidance
CenterLine guides along swaths of all kinds with sub-meter, pass to pass, accuracy. Select the
driving pattern and CenterLine determines the closest swath to follow. There’s no need to decide a
guidance pattern ahead of time, or to commit to a pattern for the entire job. Centerline allows the
switching of patterns in real-time, determining when a new pattern is being used and keeping the
operator informed of the current status.
Wireless Remote Control Unit
CenterLine’s ergonomic, handheld, remote control is easier to use than most TV remotes. Seven
easy to read keys allow the scrolling of menus displayed on the lightbar. The remote keypad is
backlit for night-time operation, and 3 AAA batteries (included) powers the unit for an entire season.
The small, powerful, remote permits mounting the weather-resistant lightbar outside on the hood
or in the cab. When mounted outside, wireless communication permits easy operation while the
cab stays clean and sealed from dust and contaminants.
Lightbar Shows you the Information You Want
A text display on the lightbar reports a choice of guidance information. It also warns when an area
of the field is entered that has already been applied. Guidance text information can be turned off, if
preferred. Choose two of these guidance messages to monitor progress in real-time:
• Cross-Track Error,
• Current Swath Number,
• Vehicle Speed,
• Applied Area,
• Vehicle course on the ground.
2 CenterLine
Introduction
CenterLine
Software Version 1.07
What’s new in Version 1.07
• The new “Curve AB” guidance mode allows parallel guidance, similar to “Straight” and “Headland” guidance, along curved guide lines (See “Curve AB Guidance Operation” on page 45).
• The current (selected) guidance mode is displayed in reverse video and without a “?” in the
Real-Time menu, to remove the confusion about which guidance mode is active. (See “Realtime Operation” on page 33).
• The new “GPS Only” mode allows the use of a GPS receiver without differential correction.
(See “GPS Type” on page 19).
• Lightbar text messages, formerly available only in Straight guidance mode, is now also available in Headland and Curved AB modes. (See “Text 1 and Text 2” on page 22).
• A “Demo” mode is now included, primarily for use by sales personnel to demonstrate the capabilities of the CenterLine system. (See “Demo” on page 31).
• Additional languages are now available. (See “Language” on page 27).
• A new diagnostic tool is included for testing e-Dif GPS receivers. (See “e-Dif Info” on
page 31).
CenterLine 3
Introduction
CenterLine
Software Version 1.07
About this User’s Guide
This is revision 3 of the CenterLine user’s guide and covers CenterLine software versions 1.07 to
1.99. Some software versions may come with a supplement to this user’s guide.
Menu Items and Pick List Text
Throughout this user’s guide, menu item text is displayed between the <> characters, For example, <START>. Keys on the remote (See Figure 4 on page 6) are denoted in bold italics, such as
Enter.
Most of the figures in this user’s guide are of menu items that are displayed in the text window of
the lightbar (See Figure 5 on page 7). This text represents either a menu item, such as <GUIDANCE> or a pick-list item, such as <METRIC>. The lightbar text window can display a single line
of text up to ten characters long. Figure 1 shows an example of a single text line that would be displayed on the lightbar.
Figure 1: Example of Text Displayed on Lightbar
Figures with multiple menu items are depicting the menu items that are above, below, left, and
right of the text line currently in view. Figure 2 shows several menu items. The current menu item
in view is <SETUP> and is denoted with a black arrow to the right side of the text. This figure is
showing that the Up and Down arrow keys can be used to scroll between <START>, <SETUP>,
and <TOOLS>. If the Enter key on the remote is pressed, the display moves to the <GUIDANCE>
setup menu item. This figure also shows that, from the <GUIDANCE> menu item, it is possible to
scroll between the <GUIDANCE>, <LIGHTBAR>, and <SYSTEM> setup menus using the Up and
Down arrow keys.
Figure 2: Displaying Multiple Text Lines
4 CenterLine
Introduction
CenterLine
Software Version 1.07
Menu Items Next and To Start
There are two additional menu items that are found in almost every menu; <NEXT> and <TO
START>. Figure 3 shows the <NEXT> and <TO START> menu items in the System Setup menu
list. Pressing Enter at <NEXT> brings up the next menu heading. As an example, pressing Enter
at <NEXT>, while in Lightbar setup, brings up <SYSTEM>. In the same example, pressing ESC at
<NEXT> brings up the <LIGHTBAR> menu Item. Selecting <TO START> automatically goes back
to the <START> menu. From here real-time guidance can be started. Using <TO START> is useful
when it is necessary to quickly change one setting and then go right back into real-time operation.
Figure 3: Next and To Start Menu Items
Software Components
CenterLine software can be broken into three components: Setup (See “CenterLine Setup” on
page 13), Real-Time (See “CenterLine Real-Time Operation” on page 32), and Tools (See “Tools”
on page 29). Setup allows the configuring of the CenterLine to best suit the current needs, and the
Real-Time component handles all of the real-time guidance operations. The Tools component provides basic diagnostics for the lightbar and the attached GPS receiver.
CenterLine 5
Introduction
CenterLine
Software Version 1.07
Wireless Remote Control
General Operation
Operation of CenterLine software is via remote keypad input and menu items displayed in the text
display area (See Figure 5) of the CenterLine lightbar. The Up and Down arrow keys are used to
scroll through menus, sub-menus, and pick lists. The Enter key is used to enter menus and submenus, and accept a desired pick-list entry. The ESC key acts as cancel.
Figure 4: The Wireless Remote Control Unit
FCC Statement
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause undesired operation.
QS7CL7850094
QS7CL7850107
TR19JN96.008
Changes or modifications to the product, not expressly approved by Midwest Technologies Illinois,
LLC, could void the user's authority, as granted under Part 15 of the FCC Rules, to operate the
equipment.
6 CenterLine
Introduction
CenterLine
Software Version 1.07
CenterLine Lightbar
TM
CenterLine
Figure 5: The CenterLine Lightbar
Lightbar Specifications
Housing Material: ABS/Poly carbonate alloy construction.
Dimensions: 3.70”H x 9.40”W x 3.80”D (95 mm x 240 mm x 100 mm)
Weight: 0.8 lbs (0.36 kg)
Processor: Intel StrongARM
MEMORY: 16 MB Ram, 2 MB Flash
LEDs: High-lumen red, yellow, and green radial light pattern and 10 character
LED alpha-numeric text display. Full brightness control adjustment using
wireless remote.
Operating Temp: 32 to 160 F (0 to 70 C)
Storage Temp: -40 to 185 F (-40 to 85 C)
I/O to DGPS: 1 asynchronous RS 232
I/O to Control Unit: Wireless link operating at 433 MHz. FCC part 15 and Industry Canada
RSS-210 certified. Other certifications pending.
Mounting: Mounting bracket supplied. Magnetic and suction mounts are optional.
CenterLine 7
Introduction
CenterLine
Software Version 1.07
CenterLine Quick Start-up
The following section assumes that your CenterLine hardware has been properly set up. See
“CenterLine Product Kits” on page 9 - 12 for information on how to configure the system.
General Start-up Sequence
• Apply power to CenterLine.
• Lightbar performs a start-up sequence.
• Lightbar displays current software version.
• Lightbar displays <START>.
• <START> display should remain until Enter is pressed to start real-time guidance or the Start
menu is scrolled, using Up or Down to move to another menu option; <SETUP> or <TOOLS>.
First Time Start-up Sequence
• Apply power to CenterLine.
• Lightbar performs a start-up sequence.
• Lightbar displays current software version.
• Lightbar displays <START>.
• Using Up or Down, scroll until <SETUP> is displayed on the lightbar. Press Enter.
• Set up the CenterLine system by choosing the proper selections found in the three setup submenus <GUIDANCE>, <LIGHTBAR>, and <SYSTEM>. It is important to have the correct
swath width entered.
• Return to the <START> location and press Enter to begin real-time guidance.
8 CenterLine
CenterLine Quick Start-up
CenterLine
Software Version 1.07
CenterLine Product Kits
CenterLine Kit without DGPS Receiver
CenterLine Lightbar
CenterLine
A GPS data cable is
required but not provided in kit.
M
EN
U
ESC
DOWN
CenterLine
BRIGHT
DIM
CenterLine
CenterLine
Power Cable
12'
5 Amp
To
Battery
CenterLine
UP
CenterLine
Wireless Remote
Boom Sense -
e
ns
e
S
Acc
t
a
B
+12V when booms are ON
Ignition Sense -
+12V when ignition is ON
Power Cable
12'
Figure 6: CenterLine without DGPS Receiver
CenterLine 9
CenterLine Product Kits
CenterLine
Software Version 1.07
CenterLine Kit with RX 360p WAAS DGPS Receiver
CenterLine Lightbar
CenterLine
CenterLine
MENU
UP
ESC
DOWN
CenterLine
CenterLine
GPS Data Cable
16'
BRIGHT
DIM
CenterLine
CenterLine
Wireless Remote
RX 360p
GPS Receiver
Figure 7: CenterLine Kit with RX360p WAAS DGPS Receiver
CenterLine
Power Cable
12'
5 Amp
To
Battery
Boom Sense -
e
s
n
e
S
Acc
Bat
+12V when booms are ON
Ignition Sense -
+12V when ignition is ON
Power Cable
12'
10 CenterLine
CenterLine Product Kits
CenterLine
Software Version 1.07
CenterLine Kit with RX 350p WAAS DGPS Receiver
CenterLine Lightbar
RX 350p
GPS Receiver
CenterLine
GPS Data Cable
16'
CenterLine
CenterLine
Power Cable
12'
M
ESC
CenterLine
BRIGHT
DIM
CenterLine
UP
ENU
D
O
W
N
CenterLine
CenterLine
Wireless Remote
e
s
n
e
S
S
Acc
t
a
B
Boom Sense +12V when booms are ON
Ignition Sense +12V when ignition is ON
5 Amp
To
Power Cable
Battery
Figure 8: CenterLine with RX 350p WAAS DGPS Receiver
CenterLine Product Kits
12'
CenterLine 11
CenterLine
Software Version 1.07
CenterLine with RX 400p DGPS Receiver
CenterLine Lightbar
CenterLine
MENU
ESC
D
O
CenterLine
W
N
BRIGH
T
D
IM
CenterLine
Wireless Remote
CenterLine
UP
CenterLine
Power lead
not used
Inline Fuse
11/2 Amp
+
Red
Flying Leads
GPS Receiver
& Antenna
RX 400p
RX 400p
Lat 5100.120 N+
Lon 11
MID-TECH
-
Blk
RX 400p
CenterLine
Power Cable
12'
se
en
H
igh
A
ccu
D
iffere
ntia
l G
P
202.250 WH
Midwest Technologies, Inc.
racy
S
R
e
ceiver
ENTER
S
cc
A
t
a
B
5 Amp
To
CenterLine
Battery
GPS Data Cable
15'
Figure 9: CenterLine with RX 400p DGPS Receiver
Boom Sense +12V when booms are ON
Ignition Sense +12V when ignition is ON
Power Cable
12'
12 CenterLine
CenterLine Product Kits
CenterLine
Software Version 1.07
CenterLine Setup
CenterLine Setup allows the configuring of the CenterLine product to best suit the current guidance and mapping needs. For the complete overview of the Setup process see the "CenterLine
Setup Flow Diagram,” on page 28. CenterLine Setup has three sub-menus: <GUIDANCE>,
<LIGHTBAR>, and <SYSTEM>. Each is described in detail below. Figure 10 shows the Setup
flow.
The top level of CenterLine software has three menus to choose from: <START>, <SETUP>, and
<TOOLS>. To enter the setup menus, use Up or Down to scroll until <SETUP> is visible and press
Enter. When in Setup, scroll through the setup menu list, <GUIDANCE>, <LIGHTBAR>, and
<SYSTEM>, and select the desired setup menu by pressing Enter (See Figure 10).
Figure 10: CenterLine Setup Flow
CenterLine 13
CenterLine Setup
CenterLine
Software Version 1.07
Guidance Setup
Guidance setup allows the setup of several parameters that pertain to guidance functionality. Currently there are four guidance settings (see Figure 11).
To access Guidance setup from the Setup menu, scroll until the text window displays <GUIDANCE>, and press Enter. Menu item <WIDTH> should be displayed in the text window. Use Up or
Down to scroll through the list of Guidance setup menu items.
GUIDANCE WIDTH
ANTENNA
STATUS
ALARM
GPS TYPE
NEXT
TO START
Figure 11: Guidance Setup Flow
Setting Name Default Value
Width 30.0 feet (10 meters) Required
Antenna -Direction None Recommended
Antenna - Distance 0.0 ft. Recommended
Status Detect Off Optional
Alarm Off Recommended
GPS Type DGPS Recommended
Table 1: Guidance Menu Item Default Settings
Change at 1st
Time Start Up
The Guidance menu item <ANTENNA> is a sub-menu of Guidance. The <DIRECTION> and
<DISTANCE> menu items are listed under this Antenna sub-menu. The offset distance and direction (See Figure 16) can be set from these menu items.
14 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Width
The Guidance setup parameter Width is the distance between guidelines. This width is typically
the vehicle implement width or spread width. Setting this width slightly smaller than the actual
width reduces skips. Setting this width slightly larger than the actual width reduces overlap.
To adjust the Width setting, go to <GUIDANCE>, scroll with Up or Down until <WIDTH> is displayed, and press Enter. To increase the width press Up; to decrease the width press Down.
Press Enter when the desired width is set. The width value increments in 0.1 ft. intervals.
Figure 12: Setting the Guidance Width Value
Antenna
The Antenna sub-menu defines the spatial relationship between the GPS antenna and the vehicle
implement or delivery point. The GPS antenna should always be mounted along the vehicle center
line (See Figure 16). The two Antenna menu settings are Direction and Distance.
To enter the Antenna sub-menu, go to <GUIDANCE>, scroll until <ANTENNA> is displayed in the
text window, and press Enter. As mentioned, there are two settings under Antenna: <DIREC-
TION> and <DISTANCE>. The text window should display <DIRECTION>. Use Up or Down to
move between the <DIRECTION> and <DISTANCE> settings. Press Enter when the desired setting is in the text window.
Figure 13: Accessing the Antenna Sub-Menu
Direction
The Direction setting is the direction from the GPS antenna to the swath or delivery point (See Figure 16).
To change the Direction setting, go to the Antenna sub-menu of Guidance setup, scroll until
<DIRECTION> is displayed in the text window, and press Enter. Using Up or Down scroll through
the direction pick list (See Figure 14) until the desired direction is displayed in the text window.
Press Enter to save the setting and return to the Guidance setup menu.
CenterLine 15
CenterLine Setup
CenterLine
Software Version 1.07
DIRECTION BEHIND
Setting Description
Back The swath or delivery point is behind the GPS receiver on
Forward The swath or delivery point is in front of the GPS receiver on
FORWARD
Figure 14: Setting the Direction to Swath
the vehicle along the vehicle center line.
the vehicle along the vehicle center line.
Table 2: Direction to Swath Settings
Distance
The Distance setting is the distance from the GPS antenna to the swath or delivery location (See
Figure 16).
To adjust the Distance setting, go to the Antenna sub-menu of Guidance setup and press Enter.
Scroll until <DISTANCE> is displayed in the text window and press Enter. To increase the distance
press Up; to decrease the distance press Down. Press Enter when the desired distance is displayed.
Figure 15: Setting the Distance to the Swath
16 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Figure 16: Direction and Distance to Swath from DGPS Receiver
Status
The <STATUS> setting is used to auto detect implement status. When the status detect is properly
implemented, the CenterLine detects whether product delivery is on or off, based on the vehicles
product on/off switch. See “CenterLine Product Kits” on page 9 - 12 for location of status connect
(boom sense) wiring.
To adjust the Status setting, go to Guidance setup, scroll with Up or Down until <STATUS> is dis-
played in the text window, and press Enter. Using Up or Down, scroll between the <ON> and
<OFF> settings until the desired setting is displayed in the text window. Press Enter to save the
setting and return to the Guidance setup menu.
Figure 17: Selecting the Status Setting
CenterLine 17
CenterLine Setup
CenterLine
Software Version 1.07
Setting Description
OFF No Status Detect implemented. Default setting.
Table 3: Status Settings
ON Status detect assumes a single swath centered on the vehi-
cle.
Alarm
The <ALARM> setting, when set to ON, notifies the operator when entering a previously applied
area. The text window displays <APPLIED> when the implement swath is in a previously applied
area of the field.
To adjust the Alarm setting, go to Guidance setup, scroll until <ALARM> is displayed in the text
window, and press enter. Using Up or Down, scroll between the <ON> and <OFF> settings until
the desired setting is displayed in the text window. Press Enter to save the setting and return to
the Guidance setup menu.
18 CenterLine
CenterLine Setup
Figure 18: Setting the Alarm
Setting Description
Off No applied area detection.
On Applied area detection alarm.
Table 4: Status Detect Settings
CenterLine
Software Version 1.07
GPS Type
GPS Type indicates to the CenterLine system whether the GPS receiver is differentially corrected
or not.
To adjust the GPS Type, go to Guidance setup, scroll until <GPS TYPE> is displayed in the text
window, and press enter. Using Up or Down, scroll between the <DGPS> and <GPS> settings
until the desired setting is displayed in the text window. Press Enter to save the setting and return
to the Guidance setup menu.
Figure 19: Selecting the GPS Type
Setting Description
GPS GPS receiver with no differential correction - capable of pro-
viding positioning accuracy of around 10 meters.
DGPS GPS receiver with differential correction - capable of provid-
ing sub-meter positioning accuracy.
Table 5: GPS Types
CenterLine 19
CenterLine Setup
CenterLine
Software Version 1.07
1 Hz Msg
A 1 Hz data rate is not recommended for vehicle guidance, so a “GPS Slow” message is sent to
the lightbar to notify the operator if the GPS receiver is set to a 1 Hz data rate. However, there are
some areas where the 1 Hz rate is used. For those areas, we provide the ability to disable the
“GPS Slow” message.
To turn the “GPS Slow” message on or off, go to Guidance setup, scroll until <1 Hz Msg> is displayed in the text window, and press enter. Using Up or Down, scroll between the <YES> and
<NO> settings until the desired setting is displayed in the text window. Press Enter to save the setting and return to the Guidance setup menu.
1 Hz MSG
YES
NO
Figure 20: Selecting the GPS Type
Setting Description
Yes When the data rate of the GPS receiver is set to 1 Hz, a
“GPS Slow” message is sent to the lightbar, and the guidance function is disabled.
No When the data rate of the GPS receiver is set to 1 Hz, a
“GPS Slow” message is sent to the lightbar when you first
enter real-time operation, but guidance is allowed.
Table 6: 1 Hz Msg
20 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Lightbar Setup
Lightbar setup allows the selection of several parameters related to the lightbar. There are five
lightbar settings: Drive Sensitivity <SPACING>, Display Mode <MODE>, two selectable messages: <TEXT 1> and <TEXT 2>, and <STEER BAR?> (See Figure 21 and Table 7).
Figure 21: The Lightbar Setup Flow
Setting Name Default Value
Spacing 1.5 ft. Optional
Mode Swath Optional
Text 1 X-Track Error Optional
Text 2 Applied Area Optional
Steer bar? No Optional
Table 7: Lightbar Menu Item Default Settings
Change at 1st
Time Start up
Spacing
The Spacing setting allows the selection of the distance that a single light on the lightbar LEDs represents.
To change the Spacing setting, go to Lightbar setup, scroll until <SPACING> is displayed in the
text window, and press Enter. To increase the spacing distance press UP; to decrease the spacing
press Down. Press the Enter key when the desired spacing is set. The Spacing range is 0.5 ft. to
9.5 ft., in 0.5’ increments.
CenterLine 21
CenterLine Setup
CenterLine
Software Version 1.07
Figure 22: Setting the LED Spacing
Mode
The Mode setting defines how the row of LEDs are interpreted. The center stack of Green LEDs
can represent either the current guideline or the vehicle (See Table 8).
To change the Mode setting, go to Lightbar setup, scroll until <MODE> is displayed in the text window, and press Enter. Using Up or Down, scroll through the Mode pick list until the desired setting
is displayed in the text window. Press the Enter key to save the setting and return to the <TEXT 1>
menu item.
Figure 23: Setting the Mode
Setting Description
Swath When Display Mode is set to Swath, the center stack of Green LEDs represents the cur-
rent guideline. In this mode, steer the vehicle to bring the moving LED back to center
Vehicle When Display Mode is set to Vehicle, the center stack of Green LEDs represents the
vehicle’s position. In this mode, steer the vehicle to bring the center lights towards the
moving LED.
Table 8: Display Mode Settings
Text 1 and Text 2
The Text 1 and Text 2 settings allow you to select text messages from a set of predetermined guidance information messages. These messages are displayed in the lightbar text window for 15 seconds when first enabled, and cycled through during guidance operations. A maximum of two text
messages can be displayed.
22 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Text 1
To select the Text 1 setting, go to Lightbar setup, scroll using Up or Down until <TEXT 1> is displayed in the text window, and press Enter. Using Up or Down scroll through the Text 1 pick list
until the desired message is displayed in the text window. Press Enter to save the setting and
advance to the <TEXT 2> menu item.
Figure 24: Selecting the Text 1 Message
Message Description
X-Track Displays the error (in distance) between the current guideline and the vehicle position.
Swath # Displays the current guideline number.
Ground Speed Displays the vehicle ground speed.
Area Applied Displays the amount of area covered, sprayed, or spread, in acres or hectares.
COG Course on Ground, displays the vehicle heading in degrees.
Off When Off is selected, no message is displayed in this message slot.
Table 9: Text 1 Options
CenterLine 23
CenterLine Setup
CenterLine
Software Version 1.07
Text 2
To select the Text 2 setting, go Lightbar setup, scroll using Up or Down until <TEXT 2> is displayed in the text window, and press Enter. Using Up or Down scroll through the Text 2 pick list
until the desired message is displayed in the text window. Press Enter to save the setting and
advance to the STEER BAR? menu item.
Figure 25: Selecting the Text 2 Message
Message Description
X-Track Displays the error (in distance) between the current guideline and the vehicle position.
Swath # Displays the current guideline number.
Ground Speed Displays the vehicle ground speed.
Area Applied Displays the amount of area covered, sprayed, or spread, in acres or hectares.
COG Course on Ground, displays the vehicle heading in degrees.
Off When Off is selected, no message is displayed in this message slot.
Table 10: Text 2 Message Options
24 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Steer Bar
The Steer Bar setting determines how the LED steering display appears. The LEDs, representing
the vehicle track in relation to the current guideline, can be shown as a single LED or a solid bar
(See Table 11).
To change the Steer Bar setting, go to Lightbar setup, scroll until <STEER BAR?> is displayed in
the text window, and press Enter. Using Up or Down, scroll through the Steer Bar pick list until the
desired setting is displayed in the text window. Press the Enter key to save the setting and return
to the <SYSTEM> menu item.
Figure 26: Setting the Steer Bar Option
Setting Description
Off
On
The LEDs, representing the vehicle track in relation to the current guideline, are
shown as a single LED.
The LEDs, representing the vehicle track in relation to the current guideline, are
shown as a solid bar.
Table 11: Steer Bar Settings
CenterLine 25
CenterLine Setup
CenterLine
Software Version 1.07
System Setup
System setup allows the selection of settings that effect the entire CenterLine product. There are
only two settings: Units and Language (See Table 12).
Figure 27: System Setup
Setting Name Default Value
Unit US Optional
Language English Optional
Table 12: System Menu Item Default Settings
Change at 1st
Time Start Up
Units
System Units allows the selection of either US and Metric units (See Table 13).
To change the System Units, enter System Setup, scroll through the sub-menu list until <UNITS>
appears in the text window, and press Enter. Next scroll between the two units choices, <METRIC> and <US>. When the desired unit is displayed, press the Enter key. The software should
bring you back to <UNITS>.
Figure 28: Setting System Units
26 CenterLine
CenterLine Setup
CenterLine
Software Version 1.07
Pick List Description
US All units are entered and displayed in Feet, Miles, and Acres. This is the default setting.
Metric All units are entered and displayed in Meters, Kilometers, and Hectares.
Table 13: The Unit Menu Item Settings
Language
CenterLine comes pre-loaded with several languages. To change the system language, enter System Setup, scroll through the sub-menu list until <LANGUAGE> appears in the text window, and
press Enter. Next scroll to the desired language using Up or Down. When the desired language is
displayed, press the Enter key. The software should return to <NEXT>
Figure 29: Setting the System Language
CenterLine 27
CenterLine Setup
CenterLine
Software Version 1.07
CenterLine Setup Flow Diagram
START
SETUP
TOOLS
GUIDANCE WIDTH
ANTENNA DIRECTION
ALARM
GPS TYPE
1 Hz MSG
NEXT
TO START
LIGHTBAR SPACING
MODE
TEXT 1
TEXT 2
STEER BAR
NEXT
TO START
SYSTEM UNITS
NEXT
TO START
LANGUAGE
NEXT
TO START
30.0 (Default)
DISTANCE
NEXT
OFFSTATUS
ON
OFF
ON
DGPS
GPS
YES
NO
1.5 (Default)
VEHICLE
SWATH
X-TRACK
SWATH#
SPEED
AREA
COURSE
OFF
NO
YES
METRIC
US
FORWARD
BACK
0.0 (Default)
ENGLISH
SWEDISH
DANISH
DUTCH
GERMAN
FRENCH
ITALIAN
PORTUGUESE
SPANISH
28 CenterLine
CenterLine Setup
Figure 30: CenterLine Setup Flow Diagram
CenterLine
Software Version 1.07
Tools
The Tools menu contains several functions to provide some basic system diagnostics (See Table
14).
To access Tools from the Setup menu, scroll until the text window displays <TOOLS>, and press
Enter. <RECEIVER> should be displayed in the text window. Use Up or Down to scroll through
the Tools menu.
Figure 31: The Tools Menu Flow
Menu Item Description
Receiver Checks the status of a connected GPS receiver.
Lightbar Tests the functionality of the CenterLine Lightbar LEDs and
text window.
e-DIf Only appears if an e-Dif GPS receiver is detected by the
CenterLine system. Re-calibrates the e-Dif receiver.
e-Dif Info Only appears if an e-Dif GPS receiver is detected by the
CenterLine system. Displays current position information.
Demo Activates a simulated CenterLine session.
Next Advances to the next Setup menu item.
To Start Returns the operator to the Start point of the menu.
Table 14: Tools Menu Items
CenterLine 29
Tools
CenterLine
Software Version 1.07
Receiver
The Receiver diagnostic test queries the attached GPS receiver and returns its current configuration and status. This information is displayed in the text window on the lightbar.
To start the Receiver check, go to the Tools menu, scroll until <RECEIVER> is displayed in the text
window, and press Enter. The lightbar displays the diagnostic messages shown in Table 15.
Diagnostic Description
GPS Status If the lightbar is not receiving GPS data, the text window message
appears as <NO GPS>. If the lightbar is receiving GPS data but no
differentially corrected GPS data, the text window message appears
as <GPS>.
DGPS Status If the lightbar is receiving differential corrected GPS data, the text win-
dow message appears as <DGPS>.
NMEA Strings Returns the name of each NMEA string currently being received from
the receiver. As an example if the NMEA GPGGA string is being
received from the receiver then the text window displays <GGA>.
Data Rate Returns the current receiver data rate. This is typically 5 Hz. The rate
is displayed in the text window, e.g. <5 HZ> is displayed for the 5
Hertz data rate.
Table 15: Receiver Diagnostic Messages
Lightbar
The Lightbar diagnostic test initiates an illumination sequence of all of the LEDs and the text window, followed by a brightness control sequence. This allows the verification that all lights on the
CenterLine lightbar are working properly.
To start the Lightbar check, go to <TOOLS> and press Enter. Scroll with Up or Down until
<LIGHTBAR> is displayed in the text window and press Enter. The illumination sequence should
start. When test is completed the lightbar displays <END>.
e-Dif
The accuracy of the position information provided by the e-Dif GPS receiver slowly deteriorates
with time since the last calibration. Because of this, it is recommended that the e-Dif receiver be
recalibrated about every 1 to 2 hours, to maintain the accuracy of the position information. The eDif tool allows the operator to re-calibrate the e-Dif receiver by coming to a stop and selecting e-Dif
in the Tools menu or the Real time menu.
To re-calibrate the e-Dif receiver, go to <TOOLS> and press Enter. Scroll with Up or Down until
<E-DIF> is displayed in the text window and press Enter. The text window displays <WAIT> until
the receiver re-calibration is complete. The lightbar then displays <READY>.
30 CenterLine
Tools
CenterLine
Software Version 1.07
e-Dif Info
The “e-Dif Info” function only appears when the CenterLine system detects that an e-Dif GPS
receiver is present and calibrated. This receiver diagnostic test queries the attached e-Dif GPS
receiver and displays current position information being generated. This information is displayed in
the text window on the lightbar.
To start the e-Dif diagnostic test, go to the Tools menu, scroll until <E-DIF INFO> is displayed in
the text window, and press Enter. The lightbar displays the diagnostic messages shown in Table
16.
Diagnostic Description
Number of
Satellites
E Correction Age Displays the time since the last re-calibration.
Current Last
Position
Displays the number of satellites that are providing a reliable signal to
the GPS receiver.
Displays the latitude and longitude and height of the last re-calibration
position.
Table 16: e-Dif Receiver Diagnostic Messages
Demo
The Demo mode displays simulated guidance information on the lightbar. This is used primarily by
sales personnel to domonstrate the capabilities of the CenterLine system.
Next
The Next selection saves the setup information and returns the operator to the Start point on the
CenterLine menu.
To Start
The Start selection saves the setup information and returns the operator to the Start point on the
CenterLine menu.
CenterLine 31
Tools
CenterLine
Software Version 1.07
CenterLine Real-Time Operation
Starting Real-time Operation
This section assumes that the setup section (See “CenterLine Setup” on page 13) has been read
and the CenterLine lightbar properly set up.
Start real-time operation by pressing Enter when <START> is displayed in the text window. The
<START> menu item is at the highest menu level. <START> can be easily reached from most
menu levels by scrolling to <TO START> and pressing Enter. This jumps to the <START> location
from anywhere in the menu structure (See Figure 30).
Figure 32 is a flow diagram of the CenterLine real-time operation and menu.
START
TOOLS
NEW?
RESUME?SETUP
PATTERN
NEW AB MARK A MARK B
AREA
E-DIF WAIT
EXIT
APPLY OFF? APPLY ON?
HEADLAND
RIGHT
LEFT
STRAIGHT
CLOSE
CURVED
Real-time Menu
Figure 32: Real-Time Operation Flow Diagram
New? Resume?
When Enter has been pressed at the <START> location, a prompt to start a new field or resume
working in the current field appears. During real-time operation, CenterLine stores the vehicle’s
trajectory data. This allows the operator to stop working in a field before finished and return at a
later time, continuing where they left off. Only the current field is stored.
Use Up or Down to scroll between the <NEW?> and <RESUME?> menu items. Selecting
<NEW?> clears the current field trajectory data and starts a new field in memory. Selecting
<RESUME?> retains the current field trajectory data and allows the start of guidance using the
existing data.
32 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Real-time Operation
Real-time guidance begins when <NEW?> or <RESUME?> is selected. At this point, the GPS receiver should
be properly connected to the CenterLine lightbar and running. See Figures 7-9 for diagrams showing how the
DGPS receiver should be connected. The default guidance mode is Straight-Line Guidance and the current
guidance mode is displayed in reverse video. The current guideline information is stored in memory, along
with the field’s trajectory data, is lost when <NEW?> is selected, and retained when <RESUME?> is selected.
Only information for a single guideline is stored. While in Headland mode, A and B points can be marked for
Straight-Line or Curved AB guidance.
Real-time Menu
During real-time operation, a real-time menu (See Figure 32 on page 32) is available that allows
you to switch between guidance patterns, mark A and B points for straight-line or Curved AB guidance, start a new A-B line, and exit. The real-time menu is accessed by pressing Up or Down during guidance operation. When either of these keys is pressed, the guidance messages displayed
in the text window are replaced by the real-time menu (See Figure 32 on page 32). Use Up and
Down to scroll through the menu and press Enter to select an item. The real-time menu times out
when 5 seconds have passed and no arrow keys have been pressed.
Apply On/Off
If no switchbox or boom sense cable is being used and the <GUIDANCE><STATUS> setting (See
“Status” on page 17) is set to off, Apply On/Off information must be provided to the CenterLine system manually. To toggle the Apply On/Off status, scroll the real-time menu (See Figure 32 on
page 32) until <Apply on> or <Apply off> appears in the text window. Pressing Enter switches to
the status displayed.
NOTE: This does not turn the application on and off. It only notifies the CenterLine system
of the application status. <Apply on> and <Apply off> do not appear if <GUIDANCE><STATUS> is set to ON.
CenterLine 33
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Marking A and B Locations
The Straight-line and Curve AB guidance modes require a reference guideline to guide the vehicle
along. Establishing a guideline involves marking two points along the reference guideline. To
establish this reference guideline using the real-time menu, use Up or Down to scroll in the menu
until <NEW AB?> is displayed on the lightbar (See Figure 33), and press Enter. The menu item
<MARK A> is displayed. Mark the A location by pressing Enter when the desired location is
passed. The menu item <MARK B> is now displayed. To mark the B location, press Enter when
the desired location is passed. The reference guideline is now established and the lightbar displays guidance information. See the underlined caution under “
page 45, when establishing AB guideline for Curve AB operation.
Curve AB Guidance Operation” on
NEW AB? MARK A MARK B
Figure 33: The Mark A Mark B Sequence
Switching between Guidance Modes
There may be situations where it is necessary to switch between guidance modes. Typically an
operator makes one or more passes around the field’s headland area in the Headland guidance
mode. While driving the headlands, the operator may mark the A and B guideline points to be used
when switching modes. When the headlands are completed, the operator switches to the Straightline or Curve AB mode, and completes the field in a back and forth fashion.
To switch between guidance modes, scroll the real-time menu (See Figure 32 on page 32) until <HEADLAND>, <STRAIGHT>, or <CURVE AB> appears in the text window. When the desired mode is displayed,
press Enter to make it active.
34 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Area Determination
The area of the current job or field is important information. CenterLine allows the determination of
the area of a field by driving the perimeter of the field. This can be conveniently done while driving
the first headland circuit in Headland mode.
To determine the area of a field, scroll the real-time menu until <AREA> is displayed (See
Figure 34 on page 35) and Press Enter. The lightbar displays <LEFT> or <RIGHT>. Using Up or
Down, select the side of the swath or implement that is closest to the field boundary. Press Enter
to start area calculation. The lightbar displays <!
close the boundary, scroll the real-time menu (Figure 32) until <CLOSE> is displayed. Press Enter
to close the boundary and determine the area. Pressing <CLOSE> inserts a line between the starting location and the current location and uses that shape to determine area.
The area is automatically determined when the vehicle drives within 4.5 meters (15 feet) of the
starting point.
The bounded area is displayed on the lightbar as a part of the guidance message stream for three
minutes and when stopped in an “applied” area.
If a bounded area has already been determined, the <VIEW> menu item is present. Pressing
Enter at the <VIEW> level displays the current bounded area value.
Map BND> or <Map BND #>. When ready to
Figure 34: Area Determination Flow Diagram
CenterLine Real-Time Operation
CenterLine 35
CenterLine
Software Version 1.07
Return to Point
CenterLine allows the operator to mark a point in the field to return to later in time. Typically the Return to Point feature is used to mark a location when stopping guidance and
wanting to start in the same location and in the same direction at a later time. This Return
to Point location is stored with the field’s trajectory data, is lost when <NEW?> is selected,
and retained when <RESUME?> is selected.
There is a specific Return to Point key located on the wireless remote, see Figure 4. This key
works in toggle fashion; press it once to mark the point (the lightbar displays <!"#>), press it
again to navigate back to the point. Stop the navigation process by pressing ESC. When Return
to Point is pressed again (third time) the old location is replaced with the current vehicle location.
While operating in the Return to Point mode, no active text messages are displayed except error
messages. If the vehicle enters an area that has already been applied, the display alternates
between the Return To Point distance and <Applied!>.
Exiting Real-time Operation
To exit guidance, press Esc or scroll with Up or Down in the real-time menu until <EXIT?> is displayed (Figure 35) in the text window and Press Enter. <BYE> appears in the text window, real-
time operation stops, and the display returns to the main menu.
36 CenterLine
CenterLine Real-Time Operation
Figure 35: Exit in Display
CenterLine
Software Version 1.07
Headland Guidance Operation
This section describes how to operate CenterLine in the Headland guidance mode. The Headland
mode is used when the operator wants to drive several circuits around the field boundary and be
guided around all circuits that occur after the first. When several headland circuits have been completed, the operator has the option of switching to the Straight-line mode. The Headland pattern is
also used when a user wants to do product application on terraced fields. In the Headland curved
guidance pattern, the operator can pull along side any previous applied swath and be guided parallel to that swath by the X-Track guidance display.
To select the Headland guidance mode, scroll with Up or Down in the real-time menu until
<HEADLAND> is displayed. If <HEADLAND> is not displayed in reverse video, press Enter. This
switches the guidance mode to Headland. If <HEADLAND> is displayed in reverse video, the system is already in Headland mode.
Reference Guideline
While operating in the Headland mode, the user has the option to mark the A and B points of the
reference guideline used in the Straight-line or Curve AB Guidance mode. This feature makes it
easier for the operator to Mark the A and B points while in Headland mode applying the headlands.
It is always best to mark the A and B points for the Straight-line or Curve AB mode while driving
along a straight edge of a field. See the underlined caution under “
on page 45, when establishing AB guideline for Curve AB operation. For more detail on how to
establish a reference guideline see “Marking A and B Locations” on page 34.
Curve AB Guidance Operation”
The operator remains in the Headland mode until the guidance mode is changed using the realtime menu (see “Switching between Guidance Modes” on page 34). The reference guideline can
be used for Straight-line and Curve AB mode.
Headland Pattern Example
In this example the operator wants to apply two headland passes to the field and then switch to
Straight-line mode and apply the remainder of the field with straight-line parallel swath guidance.
After the first headland circuit the operator pulls parallel to the first circuit swath and begins applying the second circuit while being guided parallel to the first circuit.
Figure 36 on page 38 shows the operator just finishing the first headland circuit. When the operator pulls along side the first headland circuit, curved guidance automatically starts. The operator is
now able to drive the second headland circuit parallel to the first circuit by following the guidance
information displayed on the lightbar.
Figure 37 on page 38 shows the operator being guided along side the initial headland circuit. The
lightbar automatically supplies guidance information. For more details on how to interpret curved
guidance information on the lightbar (See “Headland Mode Lightbar Graphics” on page 41).
Figure 38 on page 39 shows the operator continuing to drive around the second headland circuit.
CenterLine 37
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Figure 36: Completing the First Headland Circuit
38 CenterLine
CenterLine Real-Time Operation
Figure 37: Starting the Second Headland Pass
CenterLine
Software Version 1.07
Figure 38: Continuing Around the Second Circuit.
Switching from Headland to Straight-line Mode
When the operator has completed the desired number of headland circuits, two circuits in our current example, the system is switched to Straight-line Guidance mode to apply the remainder of the
field in a straight back and forth fashion.
To switch from the Headland Pattern to another pattern, see “Switching between Guidance Modes”
on page 34. If the operator is being guided along a curved path when the pattern is switched, the
lightbar no longer guides them along the curved path.
If a reference guideline was established while in the Headland Guidance mode, CenterLine automatically guides the vehicle along the closest parallel line as soon as the operator switches to the
Straight-line mode. If a reference guideline was not established during the Headland mode, then
the operator must mark the A B points. The lightbar displays the <MARK A> message, indicating
that no reference guideline exists.
Figure 39 shows the operator applying product in Straight-line mode. Because a reference guideline was established during the curved guidance process, the user can immediately start straightline guidance as soon as the guidance mode button is pressed.
CenterLine 39
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Figure 39: Switched from Headland Mode to Straight-line Mode.
Figure 40: Completed Field Application
Figure 40 shows the completed field. Notice that there are several areas of the field where the
operator turned spray off to avoid double application on previously applied areas.
40 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Headland Mode Lightbar Graphics
CenterLine’s Headland mode guidance technique employs a lightbar text display graphic that aids
the operator when navigating parallel to a curved swath. The X-Track LED functionality that is
employed in Straight-line and Curve AB modes is also employed when driving in Headland mode.
A projected swath-path graphic is displayed in the text display area of the lightbar (See Figure 41).
This projected path is made up of four horizontal bars. The bottom bar represents the path closest
to the vehicle and the top bar is the path furthest away. The width of the bars decrease as they
move away from the vehicle to add a perspective view to the path ahead of the vehicle. The projected distance of the first bar from the front of the vehicle is based on the vehicle speed. The lightbar in Figure 41 informs the user to drive straight, and there are no turns approaching. In Figure 42
the lightbar indicates the vehicle is approaching a turn to the right. The X-Track LEDs indicate that
the vehicle is slightly to the right of the guideline. Lightbar X-Track LEDs are set up in Swath mode.
Therefore the user must correct to the left to get back on line. The X-Track LEDs do not provide
any information relating to the curved path ahead of the vehicle, they only indicate where the vehicle is with respect to the guideline at the current vehicle location. The lightbar displays a “hollow”
path during the first headland pass to indicate that no guidance information is available yet (The
first pass must be completed before a parallel path can be established) (See Figure 43).
CenterLine 41
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Figure 41: Curved Guidance Lightbar Graphics
42 CenterLine
CenterLine Real-Time Operation
Figure 42: Right-Hand Turn Ahead
TM
CenterLine
Figure 43: Hollow Path
CenterLine
Software Version 1.07
Straight-line Guidance Operation
The Straight-line guidance mode provides vehicle guidance along straight lines, based on a reference guideline. The first step is to establish the reference guideline. This reference guideline is
used to calculate all other parallel guidelines. See “Marking A and B Locations” on page 34 for
more detail on how to establish a reference guideline.
To mark the initial point A, begin driving along the first swath path. Typically this is along a straight
edge of a field boundary. While the vehicle is driving along the initial swath, the lightbar displays
<MARK A>. As the vehicle passes over the desired A location, press Enter to establish the guideline point A.
The lightbar now displays <MARK B>. The next step is to establish guideline point B. To do this,
press Enter as the vehicle passes over the desired B location. This establishes the reference
guideline. The lightbar starts displaying X-Track guidance information as well as any user selected
messages defined in Lightbar setup (See “Lightbar Setup” on page 21). If the vehicle is too far
from the previously applied area to determine guidance information, a “Hollow” path is displayed
(See Figure 43 on page 42).
When the reference guideline is established, the operator can begin driving straight-line guidance.
The CenterLine software detects which guideline is closest to the centerline of the vehicle and provides guidance information with respect to that line. As the vehicle moves across the field (Figure
44) new guidelines, parallel to the reference guideline, are established based on the swath width
value entered in Guidance setup.
Figure 44: Working a Field in the Straight-line Guidance Mode
CenterLine Real-Time Operation
CenterLine 43
CenterLine
Software Version 1.07
When making a turn at the end of the field, the lightbar displays the distance to the next swath (see
Figure 45).
CenterLine
30.0 FT
CenterLine
27.2 FT
CenterLine
14.7 FT
Figure 45: Distance to Next Straight Swath
44 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Curve AB Guidance Operation
The Curve AB guidance mode works similar to Straight-Line mode except it provides vehicle guidance along curved lines, based on a curved reference guideline. The first step is to establish the
reference guideline. This reference guideline is used to calculate all other parallel guidelines. See
See “Marking A and B Locations” on page 34 for more detail on how to establish a reference
guideline.
To mark the initial point A, begin driving along the first swath path (See Figure 46). It is recom-
mended that the reference guideline be established along the longest side of the field, if
possible, because the curved guidelines do not extend beyond the A and B points (See Figure 47). This can leave areas of the field where guidance information is not available. While
the vehicle is driving along the initial swath, the lightbar displays <MARK A>. As the vehicle
passes over the desired A location, press Enter to establish the guideline point A.
Figure 46: Marking AB Line in Curved Guidance
Figure 47: Curve AB Mode guideline limitations
CenterLine Real-Time Operation
CenterLine 45
CenterLine
Software Version 1.07
The lightbar now displays <MARK B>. The next step is to establish guideline point B. To do this,
press Enter as the vehicle passes over the desired B location. This establishes the reference
guideline. The lightbar starts displaying X-Track guidance information as well as any user selected
messages defined in Lightbar setup (See “Lightbar Setup” on page 21). If the vehicle is too far
from the previously applied area to determine guidance information, a “Hollow” path is displayed
(See Figure 43 on page 42).
When the reference guideline is established, the operator can begin driving Curve AB guidance.
The CenterLine software detects which guideline is closest to the centerline of the vehicle and provides guidance information with respect to that line. As the vehicle moves across the field (Figure
46) new guidelines, parallel to the reference guideline, are established based on the swath width
value entered in Guidance setup. When making a turn at the end of the field, the lightbar displays
the distance to the next swath (see Figure 48).
CenterLine
30.0 FT
CenterLine
27.2 FT
CenterLine
14.7 FT
Figure 48: Distance to Next Curved Swath
46 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Applied Area Detection
CenterLine allows the detection of a previously applied area. To use applied area detection, the
Lightbar Setup - Alarm menu field must be set up prior to starting guidance. See “Alarm” on page
18 of this User Guide for more details on how to set up this menu field.
Detecting A Previously Applied Area
Figure 49 shows how previously applied area detection works. As the vehicle enters a previously
applied area, the lightbar displays the message APPLIED, even if the application is turned off.
When the vehicle exits the previously applied area, the APPLIED message stops displaying.
Figure 49: Applied Area Detection in Headlands
CenterLine Real-Time Operation
CenterLine 47
CenterLine
Software Version 1.07
Detecting Neighboring Swath
Applied area detection notifies the user when the vehicle crosses into a previously applied neighboring swath. Figure 50 shows an Applied Area Overlap example. The vehicle can overlap up to
25% of the Swath Width without being notified. Once the edge of the vehicle swath overlaps 25%
or more into a neighboring swath, the lightbar displays <APPLIED>.
Figure 50: Applied Area Overlap in Neighboring Swath
48 CenterLine
CenterLine Real-Time Operation
CenterLine
Software Version 1.07
Lightbar Index
The CenterLine lightbar is capable of displaying a considerable amount of information to the user.
This information can be represented as text in the display window, illuminated cross track LEDs, or
a combination of text and lights. Information displayed on the lightbar depends on both user
defined settings and system warnings not controlled by the user. Table 17 describes each possible
lightbar state and possible information that could be displayed.
Lightbar State Description
Mark A: Displayed when establishing the guidance point
A of the reference guideline.
Mark B: Displayed when establishing the guidance point
B of the reference guideline.
Swath #: A user selected lightbar message. When not
on the initial guideline the first character is either L or R
for Left and Right of the initial guideline. The number
identifies how many lines left or right of the initial guideline.
X-Track Error: A user defined lightbar message. This
cross track error message is displayed when the vehicle
is on the guideline and there is no error.
X-Track Error: A user defined lightbar message. In this
example the operator should steer to the left 2.3 ft.
(Assuming that System Units is set to US and Lightbar
is set to Swath mode.)
Table 17: CenterLine Lightbar Index
CenterLine 49
Lightbar Index
CenterLine
Software Version 1.07
Lightbar State Description
Ground Speed: A user defined lightbar message indicating the vehicle speed in Miles per Hour (MPH). System
Units is set to US.
Ground Speed: A user defined lightbar message indicating the vehicle speed in Kilometers per Hour (KPH).
System is Units set to Metric.
Course on Ground (COG): A user defined lightbar message indicating the vehicles heading in degrees 0 to
359. The example to the left indicates the vehicle’s
course on the ground is due South (180 degrees).
Area Applied: A user defined lightbar message indicating the current amount of area applied in Acres. System
Units is set to US.
Area Applied: A user defined lightbar message indicating the current amount of area applied in Hectares. System Units is set to Metric.
Applied Area Detection: This message is displayed
when the vehicle is within a previously applied area.
Note that the Red stop light (far right light) is illuminated.
See “Applied Area Detection” on page 47.
Table 17: CenterLine Lightbar Index
50 CenterLine
Lightbar Index
CenterLine
Software Version 1.07
Lightbar State Description
Curved guidance information graphics. The four horizontal bars in the text display represent a perspective
view of the swath ahead of the vehicle. The bars skew
left or right to represent the curved path ahead.
Curved guidance information graphics. The path in the
text display represents a perspective view of the swath
ahead of the vehicle. The “hollow path” indicates that
the vehicle is making the first headland pass and no
guidance information is available yet. The path skews
left or right to represent the curved path ahead. This is
also displayed when in guidance mode but the vehicle is
not moving.
Mapping Boundary: This message is displayed when
the user is mapping the field boundary. The arrow symbol on the left indicates the field boundary is on the left
side of the vehicle.
CenterLine
NO GPS
Mapping Boundary: This message is displayed when
the user is mapping the field boundary. The arrow symbol on the right indicates the field boundary is on the
right side of the vehicle.
System Warning: The message is displayed when there
is loss of differential GPS corrections. Guidance calculations are stopped until differential corrections resume.
System Warning: This message is displayed when there
is a complete loss of GPS signal to the GPS receiver or
Smartpad. Guidance calculations are stopped until
DGPS signal resumes.
Table 17: CenterLine Lightbar Index
CenterLine 51
Lightbar Index
CenterLine
Software Version 1.07
Lightbar State Description
Ver 1.07
Lightbar Version Message: This message is displayed
when the user starts up CenterLine or runs the Lightbar
Test. This number varies and is based on lightbar version and model.
CenterLine
Table 17: CenterLine Lightbar Index
52 CenterLine
Lightbar Index
Midwest Technologies
2864 Old Rochester Road
Springfield, IL 62703
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