AgileX BUNKER MINI, User Manual

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7
The mode setting frame is used to set the control interface of the terminal, and its specific protocol content is
shown in Table 3.5
Table 3.5 Control Mode Setting Frame
Command name Control mode setting command
Sending node Receiving node ID Cycle
（
ms
）
Receiving Timeout (ms)
Decision control unit Chassis node 0x421 20ms 500ms
Data length 0x01
Position Function Data type Description
byte [0]
CAN control
enabling
unsigned int8
0x00 Standby mode
0x01 CAN command mode enabling
Note[1] Control mode description
When the remote control for BUNKER MINI is not turned on, the default control mode is the standby mode,
and you need to switch to the command mode to send the motion control command. If the remote control is
turned on, it has the highest authority and can block the control of commands. When the remote control
switches to the command mode, it still needs to send the control mode setting command before responding to
the speed command.
The state setting frame is used to clear system errors, and its specific protocol content is shown in Table 3.6.
Table 3.6 State setting frame
Command name State setting command
Sending node Receiving node ID Cycle （ ms ） Receiving Timeout (ms)
Decision control unit Chassis node 0x441 None None
Data length 0x01
Position Function Data type Description
byte [0]
Error clearance
command
unsigned int8
0x00 Clear all errors
0x01 Clear motor 1 error
0x02 Clear motor 2 error
Note 3: Example data, the following data is for testing use only
1. The vehicle moves forward at a speed of 0.15/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00
2. The vehicle rotates at 0.2RAD/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0xc8 0x00 0x00 0x00 0x00