Fort VSC-006, Hardware Manual, Page: 26 / 33

VEHICLE SAFETY CONTROLLER
© 2021, FORT Robotics. Company Confidential. Do not distribute.
935-0003 Rev C
26 of 33
8.2.6.
Heartbeat Message (From VSC)
The heartbeat message from the VSC contains the Emergency Stop indication as well as the current
system state.
Byte Offset Size Description Value
0 1 VSC Mode See state definitions
1 1 Autonomy Mode 0: User Control
1: Shared Control
2: Autonomous Control
2 4 E-Stop indication 0 = OK
>0 = E-Stop Active
(Each bit represents an E-Stop)
Table 40: Heartbeat Message (From VSC)
8.2.7. User Feedback Value Message (To VSC)
The User Feedback message to the VSC allows the user to update values that can be displayed on the
SRC. Note, even though this message uses a 32-bit into to transmit data, the SRC can only display 6
characters of information (it is capable of displaying all values in the range of a 16-bit integer).
Anything out of range will r
esult in a “XXXXXX” to be displayed.
Byte Offset Size Description Value
0 1 User Feedback Key 0-99
1 4 User Feedback Value
Table 41: Packet Protocol User Feedback Message
The following keys are currently defined by the system.
Key Name Description
1 – 9 User Values These 9 keys are allocated to custom user values that can be displayed on the
LCD screen. These values should be limited to 16-bit values.
10 Left Vibratory
Motor Control Setting this value to 1 will drive the vibratory motor on the left side of the SRC
for a small period of time (750ms).
11 Right Vibratory
Motor Control Setting this value to 1 will drive the vibratory motor on the right side of the
SRC for a small period of time (750ms).
12 Vibratory Motor
Control Setting this value to 1 will drive both of the vibratory motors of the SRC for a
small period of time (750ms).
80 Inactivity Pause Controls the time before the SRC goes into Pause Mode because of an
Inactivity Timeout. The time before going into Pause Mode is the
Inacti 1 in minutes.
Valid Values: 0 - 10
81 Auto Off Enable Enables the feature of the SRC to go power-off after 2 minutes past an
inactivity timeout.
0 = Disabled
1 = Enabled (default)
82 Orientation
Pause Enable Enables the feature of the SRC to go into Pause Mode because of an
Orientation Fault detected.
0 = Disabled
1 = Enabled (default)