The command of movement control feedback frame includes the feedback of current linear speed and turning angle of
chassis body. For the detailed content of protocol, please refer to Table 3.2.
The control frame includes linear speed control command, front wheel internal steering angle control command. For its
detailed content of protocol, please refer to Table 3.3.
8
Table 3.2 Movement Control Feedback Frame
Table 3.3 Control Frame of movement Control Command
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Moving speed higher 8 bits
Moving speed lower 8 bits
Reserved
Reserved
Reserved
Reserved
Corner higher 8 bits
Corner lower 8 bits
ID
0x221
Data type
signed int16
-
-
-
-
signed int16
Cycle (ms)
Receive-timeout (ms)
20ms
None
Description
Actual speed × 1000 (with an accuracy of 0.001rad)
0x00
0x00
0x00
0x00
Actual internal steering angle ×1000 (unit 0.001rad)
Movement Control Feedback Command
Command Name
Cycle (ms)
Receive-timeout (ms)
20ms
500ms
Description
Chassis moving speed, unit mm/s
(effective value+ -1500)
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×08
Function
Linear speed higher 8 bits
Linear speed lower 8 bits
ID
0x111
Data type
signed int16
byte [1]
byte [2]
Reserved
Reserved
Reserved
Reserved
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Corner higher 8 bits
Corner lower 8 bits
—
—
—
—
signed int16
0x00
0x00
0x00
0x00
Internal steering angle unit 0.001rad
(effective value+ -576)
Control Command
Command Name