Datasheet

[A]=1 automatic control of the fans. One or more fans will start to cool a motor or a
motor driver when its temperature reaches the 40ºC and stop to work when the
temperature is reduced to about 25º. It will not be possible to control the fans
manually.
In manual control mode:
[B]=0 : turn OFF the left motor fan;
[B]=1 : turn ON the left the motor fan;
[C]=0 : turn OFF the right motor fan;
[C]=1 : turn ON the right the motor fan;
[D]=0 : turn OFF the left motor driver fan;
[D]=1 : turn ON the left motor driver fan;
[E]=0 : turn OFF the right motor driver fan;
[E]=1 : turn ON the right motor driver fan.
In automatic control the controller will update automatically the [B] to [E] bits. Using 0
when the fans are OFF and 1 when the fans are ON.
note: The 40ºC and 25ºC values can be changed after a better understanding of the
normal operation of the robot.
Get cooling fans command:
[Command ] = 0x54
Write -> [0x54]
Read -> [0x54][Fan Control][Send Number] [CheckSum_H] [CheckSum_L]
where:
[Fan Control] reads the Fan Control status byte described previously on the “Set cooling fans
command”
Get communication status command:
[Command] = 0x55
Write -> [0x55]
Read -> [0x55][Communication Status][Send Number] [CheckSum_H] [CheckSum_L]
where:
[Communication Status] is the communication status between the Motor board and the
navigation computer, the PI motor controller slaves and the Sensor&Management Board.
[AXXXBXCD]
[A]=0 : Normal communication with the navigation computer;
[A]=1 : No communication or communication error with the navigation computer;
[B]=0 : Normal communication with the Sensor&Management Board;
[B]=1 : No communication or communication error with the Sensor&Management
Board;
[C]=0 : Normal communication with the Left PI motor controller Slave;
[C]=1 : No communication or communication error the Left PI motor controller Slave;
[D]=0 : Normal communication with the Right PI motor controller Slave;
[D]=1 : No communication or communication error the Right PI motor controller Slave.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 56