Segway RMP Lite 220 - Page 17

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int16_t r_speed;
int16_t car_speed;
int16_t turn_speed;
}chassis_speed_data_
t;
Chassis_Data_Ticks
2
Chassis encoder
information
typedef struct{
int32_t l_ticks;
int32_t r_ticks;
}motor_ticks_t;
Chassis_Data_Odom_
Pose_xy
3
Odom pose
information
typedef struct{
float pos_x;
float pos_y;
}odom_pos_xy_t;
Chassis_Data_Odom_
Euler_xy
4
Odom Euler
x/y axis information
typedef struct{
float euler_x;
float euler_y;
}odom_euler_xy_t;
Chassis_Data_Odom_
Euler_z
5
Odom Euler
Z axis information
typedef struct{
float euler_z;
}odom_euler_z_t;
Chassis_Data_Odom_
Linevel_xy
6
Odom speed
x/y axis information
typedef struct{
float vel_line_x;
float vel_line_y;
}odom_vel_line_xy_t;
Chassis_Data_Imu_G
yr
7
Gyroscope data
typedef struct{
int16_t gyr[3];
}imu_gyr_original_dat
a_;
Chassis_Data_Imu_Ac
c
8
Accelerometer
data
typedef struct{
int16_t acc[3];
}imu_acc_original_dat
a_;
Note 1：Odomdata：The default heading angleis0 degrees at start up.
Note 2：IMU（gyroscope and accelerometer）data：the carrier coordinate
systemXYZcorresponds to the right front up.
Table 5 event definition
Event type
Event No.
Function description
ChassisBootReadyEvent
1
Chassis central control