Segway RMP Lite 220 - Page 18

18
board start up completed
PadPowerOffEvent
2
Chassis shutdown
OnEmergeStopEvent
3
Enter emergency stop
OutEmergeStopEvent
4
Exit emergency stop
OnLockedRotorProtectEvent
5
Locked rotor event occurs
OutLockedRotorProtectEvent
6
Locked rotor event
removes
OnLostCtrlProtectEvent
7
Lost control event occurs
OutLostCtrlProtectEvent
8
Lost control event removes
CalibrateGyroSuccess
9
Calibrate the gyroscope
success
CalibrateGyroFail
10
Calibrate the gyroscope fail
CalibratePasheCurrentSuccess
11
Calibrate phase current
success
CalibratePasheCurrentFail
12
Calibrate phase current fail
Table 6 get/set interface
Interface name
Interface description
get_err_state
Get the error code of the upper computer/central control
board/motor board/battery
get_bat_soc
Get the percentage of battery remaining
get_bat_charging
Get battery charge status（1: charging; 0: non-charging）
get_bat_mvol
Get battery voltage (unit: millivolt (mV))
get_bat_mcurrent
Get battery current (unit: mA)
get_bat_temp
Get battery temperature (unit: degrees Celsius (˚ C))
get_chassis_work_model
Get chassis work model（0：Unload；1：Onload）
get_chassis_load_state
Get chassis load state （0：empty；1：full）
get_chassis_mode
Get chassis mode（0：Locked； 1：Control； 2：Push；
3：Emergency stop; 4：Error）
get_ctrl_cmd_src
Get the current chassis control source (0: remote
control; 1: upper computer)
get_vehicle_meter
Get chassis mileage (unit: meter(m))
get_host_version
Get the upper computer version number
get_chassis_central_version
Get the control board version number
get_chassis_motor_version
Get the motor board version number（Reserved）
get_line_forward_max_vel_fb
Get the forward speed limit value of the chassis (unit:
meter per hour(m/h))
get_line_backward_max_vel_fb
Get the backward speed limit value of the chassis (unit:
meter per hour(m/h))
get_angular_max_vel_fb
Get the limit value of chassis angular velocity (unit: