The control frame includes the linear velocity control opening and angular velocity control opening.
The specific protocol content is shown in Table 3.4.
Table 3.4 Motion Control Command control frame
The light control feedback frame instruction contains the feedback content of the current forward
light state, as shown in Table 3.5.
Table 3.5 light control command frame
Instruction name Control Instruction
Sending node Receive node ID Period (ms)
Receive timeout
(ms)
Decision control
unit
Chassis node 0x111 20ms 500ms
Data length 0x08
Location Function Data type Explain
byte [0]
Eight-bit high
linear speed
signed int16
The traveling speed of the car body
Unit mm/s
Valid value ± 1800
byte [1]
Eight-bit low
linear speed
byte [2]
8-bit high
angular velocity
signed int16
Rotation speed of car body
Valid value ± 1000
Unit: 0.001rad/s
byte [3]
8-bit low angular
velocity
byte [4] Retain - 0x00
byte [5] Retain - 0x00
byte [6] Retain - 0x00
byte [7] Retain - 0x00
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