AgileX TRACER MINI - Page 25

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In addition to the feedback of the state information, the feedback information of the chassis also
includes motor information. The following frame feedback is the motor information feedback: in
the chassis, the corresponding motor numbers of the two motors are as shown in the following
figure:
Figure 3.0 Motor Feedback ID Schematic Table
Table 3.10 Motor high-speed information feedback frame
byte[5]
Thesecondhighestbito
ftherightwheelodomete
r
byte[6]
Thesecondlowestbitof
therightwheelodometer
byte[7]
Thelowestbitoftherigh
t wheel odometer
Command name Motorhigh-speedinformationfeedbackframe
Sendingnode Receivingnode ID Cycle （ ms ）
ReceivingTimeo
ut(ms)