AgileX Robotics (Dongguan) Co.,Ltd.
20
Table 3.9 Lighting Control Frame
Command
Name
Lighting Control Frame
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Decision-making
control unit
Steer-by-wire chassis
0x140
25ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
Lighting control
enable flag
unsigned int8
0x00 Control command invalid
0x01 Lighting control enable
byte [1]
Front light mode
unsigned int8
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness
byte [2]
Custom brightness of
front light
unsigned int8
[0, 100], where 0 refers to no brightness,
100 refers to maximum brightness
[5]
byte [3]
Rear light mode
unsigned int8
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness
byte [4]
Customize brightness
for rear light
unsigned int8
[0, 100], where 0 refers to no brightness,
100 refers to maximum brightness
byte [5]
Reserved
--
0x00
byte [6]
Count parity bit
(count)
unsigned int8
0 - 255 counting loops, which will be
added once every command sent
byte [7]
Parity bit (checksum)
unsigned int8
Parity bit
Note [5]: The values are valid for custom mode.
Table 3.10 Lighting Control Feedback Frame
Command
Name
Lighting Control Feedback Frame
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x141
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
Current lighting control
enable flag
unsigned int8
0x00 Control command invalid
0x01 Lighting control enable
