Welcome to the comprehensive guide on the TRACER MINI mobile robot chassis, focusing on the utilization of its CAN communication standard. This section delves into the intricacies of the CAN2.0B standard, operating at a baud rate of 500K, and implementing the MOTOROLA packet format. The TRACER MINI employs an external CAN bus interface, enabling control over the linear and angular velocities of chassis movement while providing real-time feedback on the current motion status and chassis condition.
In TRACER MINI product, the CAN communication standard adopts CAN2.0B standard, the communication baud rate is 500K, and the packet format adopts MOTOROLA format. The external CAN bus interface CAN control the linear velocity of chassis movement and the angular velocity of rotation; TRACER will feed back the current motion status information and the status information of the TRACER MINI chassis in real time.
The protocol includes system status feedback frames, motion control feedback frames, control frames, and query configuration frames. The protocol content is as follows: The system state feedback instruction includes the current vehicle body state feedback, control mode state feedback, battery voltage feedback and fault feedback. The protocol content is shown in Table 3.1.
Table 3.1 TRACER MINI chassis system status feedback frame
The motion control feedback frame instruction includes the motion linear velocity and motion angular velocity feedback of the current car body. The specific content of the protocol is shown in Table 3.3.
Table 3.3 Motion Control feedback frame
The control frame includes the linear velocity control opening and angular velocity control opening. The specific protocol content is shown in Table 3.4.
Table 3.4 Motion Control Command control frame
