AgileX TRACER MINI - CAN Interface Protocol

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3.3.1CANInterfaceProtocol
In TRACER MINI product, the CAN communication standard adopts CAN2.0B standard, the
communication baud rate is 500K, and the packet format adopts MOTOROLA format. The
external CAN bus interface CAN control the linear velocity of chassis movement and the angular
velocity of rotation;TRACER will feed back the current motion status information and the status
information of the TRACER MINI chassis in real time.
The protocol includes system status feedback frames, motion control feedback frames, control
frames, and query configuration frames. The protocol content is as follows:
The system state feedback instruction includes the current vehicle body state feedback, control
mode state feedback, battery voltage feedback and fault feedback. The protocol content is shown
in Table 3.1.
Table 3.1 TRACER MINI chassis system status feedback frame
Instruction name System status feedback instruction
Sending node Receive node ID Period (ms)
Receive timeout
(ms)
Wire control
chassis
Decision control
unit
0x211 20ms None
Data length 0x08
Location Function Data type Explain
byte [0]
Current car body
status
unsigned int8
0x00 system normal
0x02 system exception
byte [1] Mode control unsigned int8
0x00 standby mode
0x01 command control mode
0x02 APP control mode (released
later)
0x03 remote control mode
byte [2]
Eight-bit high
battery voltage
unsigned int16 Actual voltage X 10 (accurate to
0.1V)