Welcome to the documentation for BUNKER Mobile Robot Platform's CAN Interface. This section provides a detailed overview of the CAN communication protocol used by the BUNKER chassis for customization and development. Users can utilize the CAN interfaces to send commands, enabling precise control over the chassis. BUNKER employs the CAN 2.0B communication standard with a 500K baud rate and Motorola message format, facilitating seamless communication for both control commands and real-time feedback.
BUNKER provides CAN interfaces for customization and development. Users can send command to control the chassis through the CAN interface.
BUNKER uses CAN2.0B communication standard with 500K baud rate and Motorola message format. The moving linear speed and the rotational angular speed of chassis can be controlled by CAN bus interface. The feedback of current motion status and chassis status would be provided from BUNKER simultaneously.
The protocol includes system status feedback frame, motion control feedback frame and control frame, please refer to the content as below for detail:
The system status feedback command provides the feedback about current status of the chassis, control mode status, battery voltage and system failure. The information is given in Table 3.1.
Table 3.1 Bunker Chassis Status Feedback Frame
