AgileX TRACER MINI - Page 24

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Table 3.9 Odometer feedback frame description table
Position Function Datatype Description
byte[0] Controlmode unsignedint8
0x00 Clear all errors
0x01Clearmotor1 error
0x02Clearmotor2 error
Command
name
Odometerfeedbackcommand
Sendingnode Receivingnode ID Cycle （ ms ）
ReceivingTimeo
ut(ms)
Wire-controlled
chassis
Decisioncontrolunit 0x311 None None
Datalength 0x08
Position Function Datatype Description
byte[0]
Thehighestbitoftheleft
wheel odometer
signedint3
2
Leftwheelodometerdata Unit mm
byte[1]
Thesecondhighestbito
f the left wheel
odometer
byte[2]
Thesecondlowestbitof
theleftwheelodometer
byte[3]
helowestbitoftheleft
wheel odometer
byte[4]
Thehighestbitofthe
right wheel
odometer
signedint3
2
Rughtwheelodometerdata Unit mm