• BUNKERPRO provides a CAN interface for the user's development, and the user can control the vehicle body through this interface.
• The CAN communication standard in BUNKERPRO adopts the CAN2.0B standard; the communication baud rate is 500K, and the message format adopts the MOTOROLA format. The linear velocity of the movement and the angular velocity of the rotation of the chassis can be controlled through the external CAN bus interface.
• BUNKERPRO will feedback the current movement status information and the status information of the BUNKERPRO chassis in real time.
• The protocol includes system status feedback frame, movement control feedback frame, and control frame. The content of the protocol is as follows: The system status feedback command includes the current vehicle body status feedback, control mode status feedback, battery voltage feedback, and fault feedback. The content of the protocol is shown in Table 3.1.

Chassis System Status

Table 3.1 Feedback Frame of BUNKERPRO Chassis System Status

Fault Information

Table 3.2 Description of Fault Information

The command of movement control feedback frame includes the feedback of current linear velocity and angular velocity of moving vehicle body. The specific protocol content is shown in Table 3.3.

Movement Control Feedback Frame

Table 3.3 Movement Control Feedback Frame

The control frame includes linear velocity control opening, angular velocity control opening and check sum. The specific content of the protocol is shown in Table 3.4.

Movement Control Frame

Table 3.4 Movement Control Frame