byte [0]
error clearing
command
unsigned
int8
0xFF Clear all non-critical failures
0x04 Clear the communication failure of the steering motor driver
0x05 Clear the communication failure of the rear right motor
driver
0x06 Clear the communication failure of the rear left motor driver
[Note]
Sample data, the following data is only for testing
1. The vehicle moves forward at a speed of 0.15m/S
2. The vehicle steering 0.2rad
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0xC8
The chassis status information will be feedback, and what
’
s more, the information about motor current, encoder
and temperature are also included. The following feedback frame contains the information about motor current,
encoder and motor temperature.
The corresponding motor numbers of the three motors in the chassis are: steering No. 1, right rear wheel No. 2, left
rear wheel No. 3
The motor speed current position information feedback is shown in Table 3.6 and 3.7.
Table 3.6 Motor Drive High Speed Information Feedback Frame
Command Name Motor Drive High Speed Information Feedback Frame
Sending
node
Receiving node
ID
Cycle
（
ms
）
Receive time-out (ms)
Steer-by-wir
e chassis
Data length
Position
Decision-making
control unit 0x08
Function
0x251~0x253
Data type
20ms
None
Description
byte [0]
byte [1]
The motor speed
is 8 bits higher
The motor speed
signed int16
Current motor speed Unit RPM
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x00
0x96
0x00
0x00
0x00
0x00
0x00
0x00
