A software framework and component libraries for building ISO 11783 implement control systems were developed with RTI's Constellation software development system. Prototype control systems for three real agricultural implements, two drills and one sprayer, were implemented. The prototypes have worked reliably during field tests. The initial design and implementation of the first and the most complicated drill control system took about four man-months, because the required components had to be created from scratch. The sprayer controller was implemented after the first drill. Even though the sprayer is a very different machine, it took only about two man-months to complete. CAN, I/O and ISOBUS components could be reused without modifications as well as many of the lower level components. The general architecture and the three operating modes could be adapted and refined from the first machine. The third control system was developed in a month, partly because of the similarities to the other drill and partly because the researchers had become more proficient with the Constellation tool.
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