Description of Fault
byte
Bit
Meaning
byte [4]
bit [0]
Reserved, default 0
bit [1]
Reserved, default 0
bit [2]
Remote control disconnection protection (0: No failure 1: Failure)
bit [3]
Reserved, default 0
bit [4]
Upper layer communication connection (0: No failure 1: Failure )
bit [5]
Reserved, default 0
bit [6]
Drive status error (0: No failure 1: failure)
bit [7]
Reserved, default 0
byte [5]
bit [0]
Battery under-voltage failure (0: No failure 1: Failure)
bit [1]
Steering zero setting error (0: No failure 1: Failure)
bit [2]
Reserved, default 0
bit [3]
Steering motor driver communication failure (0: No failure 1: Failure)
bit [4]
Rear right motor driver communication failure (0: No failure 1: Failure)
bit [5]
Rear left motor driver communication failure (0: No failure 1: Failure)
bit [6]
Motor overheat failure (0: No failure 1: failure)
bit [7]
Drive over-current failure (0: No failure 1: failure)
The command of movement control feedback frame includes the feedback of current linear velocity and steering
angle of moving vehicle body. The specific protocol content is shown in Table 3.2.
Table 3.2 Movement Control Feedback Frame
Command Name
System Status Feedback Command
Sending node
Receiving node
ID
Cycle
(
ms
)
Receive time-out
(ms)
Steer-by-wire
chassis
Decision-making
control uni
0x221
20ms
none
Data length
0x08
Position
Function
Data type
Description
byte [0]
byte [1]
The movement
speed is 8 bits
higher
The movement
speed is 8 bits lower
signed int16
Actual speed × 1000 (with an accuracy of
0.001m/s)
byte [2]
Reserved
0x00
byte [3]
Reserved
0x00