Segway RMP Lite 220 - Table of Contents

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Table Of Contents
1 Product introduction ............................................................................................................7
1.1Product diagram ........................................................................................................ 7
1.2 Component description ............................................................................................ 8
1.3 Remote control ......................................................................................................... 9
1.3.1 Remote control diagram................................................................................. 9
1.3.2 Receiver pairing ............................................................................................10
1.3.3 Remote control control car instructions ........................................................ 11
1.3.4 Upper computer control car instructions ...................................................... 12
2 Software introduction ........................................................................................................16
2.1 Documents provided to users ............................................................................... 166
2.2 Interface function introduction .............................................................................. 166
2.2.1 C/C++ Interface introduction .......................................................................166
2.2.2 ROS Interface introduction—SmartCar ........................................................20
2.2.3 Error code information table ........................................................................ 23
3 Firmware upgrade and version upgrade .......................................................................... 25
3.1 Firmware upgrade .................................................................................................. 25
3.2 Version upgrade .....................................................................................................28
Appendix I System parameters and mode switching logic...................................................31
Appendix II Connector welding instructions........................................................................ 34
Appendix III Connector pin angle definition instructions ...................................................... 37
Appendix IV C/C++ APIReference documents.................................................................... 37