Systems and methods for controlling skid-steer power machines

A power machine comprising:

• drive actuators configured to provide skid-steer turning for the power machine;
• an operator input device configured to receive operator engagement along a first axis, corresponding to commands for forward and reverse travel of the power machine, and to receive operator engagement along a second axis, corresponding to commands for turning travel of the power machine;
• and
• a control device in electronic communication with the drive actuators and the operator input device, the control device being configured to:
• determine an active ground-engagement mode of a plurality of ground-engagement modes;
• receive, from the operator input device, an operator input corresponding to operator-commanded turning travel of the power machine;
• in response to receiving the operator input, determine a drive command to control movement of at least one of the drive actuators based on the operator input and the active ground-engagement mode;
• and
• operate the drive actuators based on the determined drive command.

A method of controlling a power machine, the method comprising:

• determining, using an electronic control device, an active ground-engagement mode of the power machine, the power machine including drive actuators configured to provide skid-steer turning for the power machine, and an operator input device configured to receive multi-axis operator engagement for operator-commanded forward, reverse, and turning travel;
• receiving, at the electronic control device, an operator input from the operator input device, the operator input corresponding to operator-commanded turning travel of the power machine with an operator-commanded turn radius according to a default ground-engagement mode of the power machine;
• and
• in response to receiving the operator input, determining with the electronic control device a drive command based on the operator input and the active ground-engagement mode, to control movement of at least one of the drive actuators with a modified turn radius that is different from the operator-commanded turn radius;
• and
• moving the power machine by controlling the at least one of the drive actuators based on the drive command.

A method of controlling a power machine, the method comprising:

• determining, using an electronic control device, an active ground-engagement mode of a power machine, the power machine including drive actuators configured to provide skid-steer turning for the power machine, and an operator input device configured to receive operator engagement along first and second axis for forward, reverse, and turning travel of the power machine, the operator input device being engageable to be oriented within an input area to indicate commands for turning travel;
• based on movement of the operator input device, receive an operator input at the electronic control device corresponding to operator-commanded turning travel of the power machine using at least one of the drive actuators;
• and
• in response to the operator input corresponding to the operator input device being oriented within a restricted region of the input area, determining a command for a modified movement of one or more of the at least one drive actuators, based on the one or more turning parameters, to provide modified turning travel of the power machine that is different than the operator-commanded turning travel.