1: The chassis is in hang_mode
0: The chassis is not in hang_mode
int16_t get_charge_mos_ctrl_status (void)
Function: Gets the status of switch for charging MOS on the central
board.
Parameter: None
Return value:
1: The MOS opened
0: The MOS closed
void set_
cmd
_vel(double linear
x,double angular
z)
Function: set up the command value of chassis target speed, which
needs to be regular transmit once the chassis is enabled. It will be
determined as communication failure if the chassis can’t receive the
command value in continuous 150ms in controlling mode.
Parameter: linear_x: linear velocity command value, unit m/s;
angular_z: angular velocity command value, unit rad/s
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