Start the RANGER MINI 2.0normally, turn on the remote control, and then switch the SWB to the command control mode (move SWB to the top). At this time, the RANGER MINI 2.0 will accept commands from the CAN bus, and the host can also analyze the status of the RANGER MINI
2.0 using the feed-backed real-time data through the CAN bus. Refer to the CAN communication protocol for details. (By default, when the chassis is started and the remote control is not started.)
The 4WD chassis is shipped with an circular connector male head. The definition of its lines can refer to the figure below:
The CAN communication protocol in this product is CAN2.0B standard, its communication baud rate is 500 K, and its message format is the MOTOROLA format. Through the external CAN interface, users can switch the control model and control the linear speed and steering angle of the RANGER. The RANGER MINI 2.0MINI 2.0MINI 2.0will real-time feedback the current movement status information (including the integrated movement information of the vehicle and the detailed movement information of each wheel) and the system status information (including self-diagnostic error codes).
| Command | System Status Feedback Command | |||
|---|---|---|---|---|
| Node for sending | Node for receiving | |||
| ID | ||||
| Period （ms） | Receive timeout (ms) | |||
| Drive-by-wire chassis | ||||
| Decision-making and control unit | ||||
| 0x211 | ||||
| 20ms | ||||
| None | ||||
| Data length | ||||
| 0x08 | ||||
| Byte | ||||
| Meaning | ||||
| Data type | ||||
| Note | ||||
| byte [0] | Current vehicle status | unsigned int8 | 0x00 The system is normal 0x02 The system is abnormal |
| byte [1] | Control mode | unsigned int8 | 0x00 Standby mode 0x01 Command control mode 0x03 Remote control mode | | --- | --- | --- | --- | | byte [2] | High order byte of battery voltage | unsigned int16 | Actual voltage X 10 (the unit is 0.1 V) | | byte [3] | Low order byte of battery voltage | | | | byte [4] | Highest order byte of error message | unsigned int32 | Refer to the error message table for details | | byte [5] | High order byte of error message | | | | byte [6] | Low order byte of error message | | | | byte [7] | Lowest order byte of error message | | |
| Error message | ||
|---|---|---|
| Byte | Bit | Meaning |
byte [4] | bit [0] | Right front steering servo warning (0: unfaulty; 1: faulty) | | | bit [1] | Right rear steering servo warning (0: unfaulty; 1: faulty) | | | bit [2] | Left rear steering servo warning (0: unfaulty; 1: faulty) | | | bit [3] | Left front steering servo warning (0: unfaulty; 1: faulty) | | | bit [4] | Reserved, the default value is 0. | | | bit [5] | Reserved, the default value is 0 | | | bit [6] | Reserved, the default value is 0 | | | bit [7] | Reserved, the default value is 0 | | byte [5] | bit [0] | Right front steering zero point calibration status (0: unfaulty; 1: faulty) |
| | bit [1] | Right rear steering zero point calibration status (0: unfaulty; 1: faulty) | | --- | --- | --- | | | bit [2] | Left rear steering zero point calibration status (0: unfaulty; 1: faulty) | | | bit [3] | Left front steering zero point calibration status (0: unfaulty; 1: faulty) | | | bit [4] | Steering calibration timeout (0: unfaulty; 1: faulty) | | | bit [5] | Reserved, the default value is 0 | | | bit [6] | Reserved, the default value is 0 | | | bit [7] | Reserved, the default value is 0 | | byte [6] | bit [0] | driver status (0: unfaulty; 1: faulty) | | | bit [1] | Communication connection status with upper layer (0: unfaulty; 1: faulty) | | | bit [2] | No. 5 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [3] | No. 6 motor driver communication status (0: unfaulty; 1: faulty) |
| | bit [4] | No. 7 motor driver communication status (0: unfaulty; 1: faulty) | | --- | --- | --- | | | bit [5] | No. 8 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [6] | Over temperature protection status (0: normal; 1: triggered) | | | bit [7] | Over current protection status (0: normal; 1: triggered) | | byte [7] | bit [0] | Battery undervoltage status (0: normal; 1: triggered) | | | bit [1] | Reserved, the default value is 0 | | | bit [2] | Remote control lost connection protection status (0: normal; 1: triggered) | | | bit [3] | No. 1 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [4] | No. 2 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [5] | No. 3 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [6] | No. 4 motor driver communication status (0: unfaulty; 1: faulty) | | | bit [7] | Reserved, the default value is 0 |
The motion control feedback frame includes the current linear speed and steering angle of the vehicle.
The motion control frame includes the linear speed control command and the steering angle control command. The details of the protocol are as follows:
As shown in Figure 3.2.1, when the RANGER MINI 2.0 is in front and rear Ackerman mode, the feedback steering angle is (α+β)/2, left steering is negative, and right steering is positive; the feedback speed is the average value of the four wheels’ speed (that is, the linear speed of the chassis), reversing is negative, and moving forward is positive. If you need to check the detailed steering angle and speed of each wheel, please refer to 0X271 and 0X281 feedback frames.