Welcome to the exploration of the CAN interfaces on the HUNTER 2.0 platform, providing users with the capability to customize and command the chassis body. This section delves into the CAN message protocol, enabling users to gain control over the robot's movement and receive real-time feedback on its status.
HUNTER 2.0 provides CAN interfaces for user customization. Users can use it to conduct command control over the chassis body.
HUNTER 2.0 adopts CAN2.0B communication standard which has a communication baud rate of 500K and Motorola message format. Though external CAN bus interface, the moving linear speed and the rotational angle of chassis can be controlled; HUNTER 2.0 will feedback on the current movement status information and its chassis status information in real time.
The system status feedback command includes the feedback information about current status of chassis body, control mode status, battery voltage and system failure. The description is given in Table 3.1.
Table 3.1 Feedback Frame of HUNTER 2.0 Chassis System Status
The command of movement control feedback frame includes the feedback of current linear speed and turning angle of chassis body. For the detailed content of protocol, please refer to Table 3.2.
The control frame includes linear speed control command, front wheel internal steering angle control command. For its detailed content of protocol, please refer to Table 3.3.
Table 3.3 Control Frame of movement Control Command