Datasheet

[Power Status] is the voltage status [AXXXXBCD].
where:
A =0 : Motor Drivers disabled;
A =1 : Motor Drivers enabled;
B =0 : Motor Power not OK;
B =1 : Motor Power OK;
C =0 : Driver Power not OK;
D =1 : Driver Power OK;
D =0 : Electronic Power not OK;
D =1 : Electronic Power OK.
Get temperature command:
[Command] = 0x52
Write -> [0x52]
Read -> [0x52] [Left Motor Temperature] [Right Motor Temperature] [Left Motor Driver
Temperature] [Right Motor Driver Temperature] [Temperature Status] [Send Number]
[CheckSum_H] [CheckSum_L]
where:
[Left Motor Temperature] is the temperature of the left motor in ºC;
[Right Motor Temperature] is the temperature of the right motor in ºC;
[Left Motor Driver Temperature] is the temperature of the Left Motor Driver in ºC;
[Right Motor Driver Temperature] is the temperature of the Right Motor Driver in ºC;
[Temperature Status] is the temperature status [XXXXABCD]
where:
A=0 : Left Motor Temperature less than 40ºC;
A=1 : Left Motor Temperature more than 40ºC;
B=0 : Right Motor Temperature less than 40ºC;
B=1 : Right Motor Temperature more than 40ºC;
C=0 : Left Motor Driver Temperature less than 40ºC;
C=1 : Left Motor Driver Temperature more than 40ºC;
D=0 : Right Motor Driver Temperature less than 40ºC;
D=1 : Right Motor Driver Temperature more than 40ºC.
note: The 40ºC value can be changed after a better understanding of the
normal operation of the robot.
Set cooling fans command:
[Command] = 0x53
Write -> [0x53][Fan Control]
Read -> [0x53][Send Number] [CheckSum_H] [CheckSum_L]
where:
[Fan Control] allow automatic or manual control of the fans to cool the motors and the
drivers. [AXXXBCDE]
[A]=0 manual control of the fans
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 55