AgileX Robotics (Dongguan) Co.,Ltd.
28
(HDD) temperature
accuracy of 1℃)
byte [5]
Reserved
--
0x00
No. 4 motor drive information feedback frame
Command Name
No. 4 Motor Drive Information Feedback Frame
Sending node
Receiving node
Cycle (ms)
Receive-timeout (ms)
Steer-by-wire chassis
Decision-making control
unit
20ms
None
Frame length
0x0A
Command type
Feedback command
(0xAA)
Command ID
0x06
Data field length
6
Position
Function
Data type
Description
byte [0]
No. 4 drive current higher
8 bits
unsigned int16
Actual current X 10 (with
an accuracy of 0.1A)
byte [1]
No. 4 drive current lower
8 bits
byte [2]
No. 4 drive rotational
speed higher 8 bits
signed int16
Actual motor shaft
velocity (RPM)
byte [3]
No. 4 drive rotational
speed lower 8 bits
byte [4]
No. 4 hard disk drive
(HDD) temperature
signed int8
Actual temperature (with
an accuracy of 1℃)
byte [5]
Reserved
--
0x00
Lighting control frame
Command Name
Lighting Control Frame
Sending node
Receiving node
Cycle (ms)
Receive-timeout (ms)
Decision-making control
unit
Chassis node
20ms
500ms
Frame length
0x0A
Command type
Control command (0x55)
Command ID
0x02
Data field length
6
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
