RoboMaster C610, Руководство пользователя

Страница: 8 / 10

8
CAN Communication Protocol
1. Speed Controller Receiving Message Format
The two identifiers (0×200 and 0×1FF) control the current output of each of the four speed
controllers by ID. The controllable current range is -10000 ~ 0 ~ 10000. The corresponding
speed controller output torque current range is -10 ~ 0 ~ 10 A.
Identifier : 0×200 Frame type : Standard
Frame format : DATA DLC : 8 Bytes
Data Field Description Speed Controller ID
DATA[0] Controls the current value in higher order byte (8 bits)
1
DATA[1] Controls the current value in lower order byte (8 bits)
DATA[2] Controls the current value in higher order byte (8 bits)
2
DATA[3] Controls the current value in lower order byte (8 bits)
DATA[4] Controls the current value in higher order byte (8 bits)
3
DATA[5] Controls the current value in lower order byte (8 bits)
DATA[6] Controls the current value in higher order byte (8 bits)
4
DATA[7] Controls the current value in lower order byte (8 bits)
Identifier : 0×1FF Frame type : Standard
Frame format : DATA DLC : 8 Bytes
Data Fields Description Speed Controller ID
DATA[0] Controls the current value in higher order byte (8 bits)
5
DATA[1] Controls the current value in lower order byte (8 bits)
DATA[2] Controls the current value in higher order byte (8 bits)
6
DATA[3] Controls the current value in lower order byte (8 bits)
DATA[4] Controls the current value in higher order byte (8 bits)
7
DATA[5] Controls the current value in lower order byte (8 bits)
DATA[6] Controls the current value in higher order byte (8 bits)
8
DATA[7] Controls the current value in lower order byte (8 bits)
2. Speed Controller Sending Message Format
The format in which the speed controller sends feedback data to the CAN bus. Identifier is
determined by 0×200 + speed controller ID. For example, if the speed controller ID is 1, the
identifier of that speed controller is 0×201.
Frame type : Standard Frame format : DATA DLC : 8 Bytes
Data Fields Description Data Fields Description
DATA[0]
Controls the rotor mechanical
angle in higher order byte (8 bits) DATA[4]
Actual torque current in
higher order byte (8 bits)
DATA[1]
Controls the rotor mechanical
angle in lower order byte (8 bits)
DATA[5]
Actual torque current in
lower order byte (8 bits)