Method and apparatus for automatic turning with recording

A method for using an automatic module for an outdoor power equipment device, comprising:

• providing a outdoor power equipment device with an automatic module having,
• a user input
• configured for receiving an operator turn command related to turning the outdoor power equipment device and a direction for turning the outdoor power equipment device,
• a first computer
• communicatively coupled to the user input,
• configured to access a stored record of operator turn command data,
• configured to create an emulation of the operator turn command based on the record of operator turn command data, and
• to output the emulation, and
• a steering controller communicatively coupled to the computer and configured to receive the emulation, the steering controller further comprising
• a computer that may be either the first computer or a second computer configured for generating a series of turning signals based on the emulation, the series of turning signals having at least a first turning signal and a last turning signal, the series of turning signals causing a steering apparatus of the outdoor power equipment device to move the outdoor power equipment device to execute a turn corresponding to the operator turn command,
• an orientation module adapted to determines an instantaneous heading of the outdoor power equipment device, wherein data local to the outdoor power equipment device is sufficient for the orientation module to determine an instantaneous heading, and
• a tracking module configured to determine when the outdoor power equipment device has completed the turn corresponding to the operator turn command and to generate a turn completion signal when the turn corresponding to the operator turn command is completed;
• creating the emulation of the operator turn command based the record of operator turn command data by using the first computer;
• outputting the emulation to the steering controller;
• generating a series of turning signals based on the emulation using the computer that may be either the first computer or the second computer;
• and
• causing a steering apparatus of the outdoor power equipment device to move the outdoor power equipment device to execute a turn corresponding to the operator turn command.

An automatic module for an outdoor power equipment device, comprising:

• a user input
• configured for receiving an operator turn command related to turning the outdoor power equipment device and a direction for turning the outdoor power equipment device, and
• configured for receiving an operator record command causing creation of a record of operator turn command data where the record of operator turn command data is sufficient to create an emulation of the operator turn command related to turning the outdoor power equipment device and the direction for turning the outdoor power equipment device;
• a first computer
• communicatively coupled to the user input,
• configured to receive the operator record command,
• configured to create the record of operator turn command data, and
• configured to create the emulation of the operator turn command based on the record of operator turn command data, and
• to output the emulation;
• a steering controller communicatively coupled to the computer and configured to receive the emulation, the steering controller further comprising
• a second computer configured for generating a series of turning signals based on the emulation, the series of turning signals having at least a first turning signal and a last turning signal, the series of turning signals causing a steering apparatus of the outdoor power equipment device to move the outdoor power equipment device to execute a turn corresponding to the operator turn command,
• an orientation module adapted to determines an instantaneous heading of the outdoor power equipment device, wherein data local to the outdoor power equipment device is sufficient for the orientation module to determine an instantaneous heading, and
• a tracking module configured to determine when the outdoor power equipment device has completed the turn corresponding to the operator turn command and to generate a turn completion signal when the turn corresponding to the operator turn command is completed;
• and
• wherein the steering controller is communicatively coupled to the user input and configured to receive the operator turn command and the direction from the user input;
• wherein causing the steering apparatus of the outdoor power equipment device to move the outdoor power equipment device to execute the turn corresponding to the operator turn command comprises causing the steering apparatus of the outdoor power equipment device to move the outdoor power equipment device at a turn angle into the direction;
• wherein the steering controller is configured to terminate generating the turning signals in response to generation of the turn completion signal by the tracking module and restore exclusive control of the steering apparatus to an operator of the outdoor power equipment device;
• wherein the orientation module comprises a gyroscope, a gyroscope in combination with an accelerometer, a gyroscope in combination with a wheel encoder, or a gyroscope in combination with a speed estimation module, wherein the speed estimation module infers vehicle speed from a metric of prime mover power output;
• wherein the series of turning signals causes the steering apparatus of the outdoor power equipment device to move the outdoor power equipment device to execute a K-turn, or a Y-turn.