Datasheet

Left wheel Velocity High = (byte) (Left wheel Velocity >> 8);
Left wheel Velocity Low = (byte) (Left wheel Velocity & 0xFF);
Right wheel Velocity High = (byte) (Right wheel Velocity >> 8);
Right wheel Velocity Low = (byte) (Right wheel Velocity & 0xFF);
Get Encoders Ticks command:
[Command] = 0x4A
Write -> [0x4A]
Read -> [0x4A][Left Motor Ticks High][Left Motor Ticks Low][Right Motor Ticks High][Right
Motor Ticks Low][Send Number][CheckSum_H][CheckSum_L]
To get the Left Motor Ticks:
Left Motor Ticks = (int)Left Motor Ticks High*256 + Left Motor Ticks Low;
To get the Right Motor Ticks:
Right Motor Ticks = (int)Right Motor Ticks High*256 + Right Motor Ticks Low;
To calculate the CheckSum use the following formula:
CheckSum = 0x4A + Left Motor Ticks High + Left Motor Ticks Low + Right Motor Ticks High
+ Right Motor Ticks Low + Send Number;
Get Motor Current command:
[Command] = 0x50
Write -> [0x50]
Read -> [0x50] [Left Motor current] [Right Motor current] [Send Number] [CheckSum_H]
[CheckSum_L]
To get the real measured current do:
Left Motor measured current = (double)((double)[Left Motor current]/10.0);
Right Motor measured current = (double)((double)[Right Motor current]/10.0);
Get Motor Board Voltage command:
[Command] = 0x51
Write -> [0x51]
Read -> [0x51] [Motor Voltage] [Driver Voltage] [Electronics Voltage] [Power Status] [Send
Number] [CheckSum_H] [CheckSum_L]
Where:
[Motor Voltage] is the voltage measure of the power supply of the motors. In normal
operation will have a value between 21V and 26 V.
Motor voltage power = (double)((double)[Motor Voltage]*2.0 / 10.0);
[Driver Voltage] is the voltage measured of the power supply of the drivers for the motors. In
normal operation the value should be between 12 to 15V.
Driver voltage power = (double)((double)[Driver Voltage] / 10.0);
[Electronics Voltage] is the voltage measured of the power supply of the control electronics.
In normal operation the value should be between 9.5 to 13V.
Electronics voltage power = (double)((double)[Electronics Voltage] / 10.0);
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 54