AgileX TRACER MINI - Page 19

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The motion control feedback frame instruction includes the motion linear velocity and motion
angular velocity feedback of the current car body. The specific content of the protocol is shown in
Table 3.3.
Table 3.3 Motion Control feedback frame
bit [7] Retain
Instruction name Motion control feedback instruction
Sending node Receive node ID Period (ms)
Receive timeout
(ms)
Wire control
chassis
Decision control
unit
0x221 20ms None
Data length 0x08
Location Function Data type Explain
byte [0]
8-bit high
moving speed
signed int16
Vehicle body traveling speed unit:
mm/s
byte [1]
8-bit low
moving speed
byte [2]
Eight-bit high
rotation speed
signed int16
Car body rotation angular velocity
unit: 0.001rad/s
byte [3]
Eight-bit low
rotation speed
byte [4] Retain - 0x00
byte [5] Retain - 0x00
byte [6] Retain - 0x00
byte [7] Retain - 0x00