The CAN communication standard in HUNTER SE adopts CAN2.0B standard, the communication baud rate is 500K, and the message format adopts MOTOROLA format. The linear velocity and steering angle of the chassis movement can be controlled through the external CAN bus interface; HUNTER SE will feedback the current movement status information and the status information of the HUNTER chassis in real time. The system status feedback command includes current vehicle body status feedback, control mode status feedback, battery voltage feedback and fault feedback. The protocol content is shown in Table 3.1.
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 Table3.2.
Table 3.2 Movement Control Feedback Frame
The movement control frame includes the linear velocity control command and the front wheel inner angle control command. The specific protocol content is shown in Table 3.3.
Table 3.3 Motion Control Instruction Control Frame
PS: In the CAN command mode, it is necessary to ensure that the 0X111 command frame is sent in a period less than 500MS (recommended period is 20MS), otherwise HUNTER SE will judge that the control signal is lost and enter an error (0X211 feedback that the upper layer communication is lost). After the system reports an error, it will enter the standby mode. If the 0X111 control frame returns to the normal sending period at this time, the upper layer communication disconnection error can be automatically cleared, and the control mode returns to the CAN control mode.