AgileX SCOUT 2.0, Руководство пользователя

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AgileX Robotics (Dongguan) Co.,Ltd.
27
byte [5] Reserved -- 0x00
 No. 2 motor drive information feedback frame
Command Name No. 2 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 0x04
Data field length 6
Position Function Data type Description
byte [0]
No.2 drive current higher
8 bits
unsigned int16
Actual current X 10 (with an
accuracy of 0.1A)
byte [1]
No.2 drive current lower
8 bits
byte [2]
No.2 drive rotational
speed higher 8 bits
signed int16
Actual motor shaft velocity
(RPM)
byte [3]
No.2 drive rotational
speed lower 8 bits
byte [4]
No.2 hard disk drive
(HDD) temperature
signed int8
Actual temperature (with an
accuracy of 1℃)
byte [5] Reserved -- 0x00
 No. 3 motor drive information feedback frame
Command Name No. 3 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 0x05
Data field length 6
Position Function Data type Description
byte [0]
No.3 drive current higher
8 bits
unsigned int16
Actual current X 10 (with an
accuracy of 0.1A)
byte [1]
No.3 drive current lower
8 bits
byte [2]
No.3 drive rotational
speed higher 8 bits
signed int16
Actual motor shaft velocity
(RPM)
byte [3]
No.3 drive rotational
speed lower 8 bits
byte [4] No.3 hard disk drive signed int8 Actual temperature (with an