Datasheet

[Motor Low Battery] is the battery that will connect to the (-) of the Motor Drivers Power
supply and the (-) of the [Motor High Battery]. It will be only different from 0V when in charging
mode.
To obtain the real measured voltage of this battery the following formula must be used:
Motor Low battery voltage = (double)((double)[Motor High Battery] / 10.0);
[Electronics Battery] is the battery that powers all the electronics and the onboard
Navigation Computer.
To obtain the real measured voltage of this battery the following formula must be used:
Electronic battery voltage = (double)((double)[Electronics Battery]/ 10.0);
[Charger] is the power from the docking station.
To obtain the real measured voltage in the charger the following formula must be used:
Charger voltage = (double)((double)[Charger]/ 10.0);
Get Auxiliary Batteries Voltage command:
[Command] = 0x52
Write -> [0x52]
Read -> [0x52] [PC1 Battery] [PC2 Battery] [PC3 Battery] [PC4 Battery] [PC5 Battery] [Send
Number] [CheckSum_H] [CheckSum_L]
Where:
[PC1-PC5 Battery] are auxiliary batteries that can be used to power computers or other
electronic devices that the robot can carry.
To obtain the real measured voltage of this battery the following formula must be used:
PC1-PC5 battery voltage = (double)((double)[ PC1-PC5] / 10.0);
Get Bumpers command:
[Command] = 0x53
Write -> [0x53]
Read -> [0x53] [Bumpers][Send Number] [CheckSum_H] [CheckSum_L]
Where:
[Bumpers] allows the detection of collisions in different parts of the robot. The received
[bumpers] byte indicates if a bump is being detected. Bumper byte has the following
composition [0000ABCD] where:
[A] is the front left bump;
[B] is the front right bump;
[C] is the rear left bump;
[D] is the rear right bump.
Each bit can assume two possible values: 0 if no bump is being detected or 1 if a bump is
being detected.
Get Sonars command:
[Command] = 0x54
Write -> [0x54]
Read -> [0x54] [Sonar0_High_Byte] [Sonar0_High_Byte] ---- [Sonar15_High_Byte]
[Sonar15_High_Byte] [Send Number][CheckSum_H] [CheckSum_L]
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 58