This section will give a basic introduction to the BUNKERPRO mobile robot chassis, so that users and developers have a basic understanding of the BUNKERPRO chassis.
The rear electrical interfaces are shown in Figure 2.1, where Q1 is the CAN and 48V power aviation interface, Q2 is the power switch, Q3 is the charging interface, Q4 is the antenna, Q5 and Q6 are respectively the driver debugging interface and the main control debugging interface (not open to the outside), and Q7 is the power display interaction.
The definition of Q1's communication and power interface are shown in Figure 2-2.
Figure 2.2 Pin Definition of the Rear Aviation Extension Interface
Fs remote control is an optional accessory for BUNKER PRO products. Customers can choose according to actual needs. Using the remote control can easily control the BUNKER PRO universal robot chassis. In this product, we use the left-hand throttle design. Its definition and functions can be referred to Figure 2.3. The functions of the buttons are defined as: SWA, SWB, SWC, SWD. SWD is not activated yet, among them SWB is the control mode selection button, dialed to the top is the command control mode, dialed to the middle is the remote-control mode, S1 is the throttle button, controls the BUNKER PRO to move forward and backward; S2 controls the rotation, and POWER is the power supply Buttons, press and hold them at the same time to turn on. It should be noted that when the remote control is turned on, SWA, SWB, SWC, and SWD all need to be at the top.
Figure 2.3 Schematic diagram of the FS remote control buttons
Bunker: model Vol: battery voltage Car: chassis status Batt: Chassis power percentage P: Park Remoter: remote control battery level Fault Code: Error information (Represents byte [5] in 211 frame)
We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855 standard as shown in Figure 2.4.
Figure 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body
As shown in Figure 2.4, the vehicle body of BUNKERPRO is parallel to the X axis of the established reference coordinate system.
In the remote-control mode, push the remote controller rocker S1 forward to move in the positive direction of X, push S1 backward to move in the negative direction of When pushed to the minimum value, the movement speed in the negative direction of the car body rotates from the positive direction of the X-axis to the negative direction of the Y-axis. When S2 is pushed to the left to the maximum value, the counterclockwise rotation linear speed is the maximum. When S2 is pushed to the right to the maximum value, the clockwise rotation linear motion is the maximum speed. In the control command mode, the positive value of the linear speed means moving in the positive direction of the X-axis, and the negative value of the linear speed means moving in the negative direction of the negative value of angular velocity means that the car body moves from the positive direction of the X-axis to the negative direction of the Y-axis.