Welcome to the in-depth guide on utilizing the CAN (Controller Area Network) and RS232 interfaces for customization and command control of the SCOUT 2.0 mobile robot platform. This section is dedicated to providing users with detailed information on CAN cable connections, implementation of CAN command control, and the corresponding CAN message protocol.
SCOUT 2.0 provides CAN and RS232 interfaces for user customization. Users can select one of these interfaces to conduct command control over the vehicle body.
SCOUT2.0 deliver with two aviation male plugs as shown in Figure 3.2. For wire definitions, please refer to Table 2.2.
Correctly start the chassis of SCOUT 2.0 mobile robot and turn on DJI RC transmitter. Then, switch to the command control mode, i.e. toggling S1 mode of DJI RC transmitter to the top. At this point, SCOUT 2.0 chassis will accept the command from CAN interface, and the host can also parse the current state of chassis with the real-time data fed back from CAN bus. For the detailed content of protocol, please refer to CAN communication protocol.
Correctly start the chassis of SCOUT 2.0 mobile robot and turn on DJI RC transmitter. Then, switch to the command control mode, i.e. toggling S1 mode of DJI RC transmitter to the top. At this point, SCOUT 2.0 chassis will accept the command from CAN interface, and the host can also parse the current state of chassis with the real-time data fed back from CAN bus. For the detailed content of protocol, please refer to CAN communication protocol.
Table 3.1 Feedback Frame of SCOUT 2.0 Chassis System Status
<aside> 💡 Robot chassis firmware version V1.2.8 is supported by subsequent versions, and the previous version requires firmware upgrade to support.
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<aside> 💡 The buzzer will sound when the battery under-voltage, but the chassis control will not be affected, and the power output will be cut off after the under-voltage fault.
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The command of movement control feedback frame includes the feedback of current linear speed and angular speed of moving vehicle body. For the detailed content of protocol, please refer to Table 3.3.
Table 3.3 Movement Control Feedback Frame
