Datasheet

The get sonars command will retrieve the distance information of 16 sonar sensor in cm. To get the
distance value in cm the following calculation must be performed:
Sonar 0..15 = (int)[Sonar0..15_High_Byte]*256+[Sonar0..15_Low_Byte];
note: the number of sonar sensors to be use will depend on future tests.
Enable/Disable Sonars command:
[Command] = 0x55
Write -> [0x55][Control]
Read -> [0x55] [Send Number] [CheckSum_H] [CheckSum_L]
where:
[Control] = 0 : Disable sonar readings;
[Control] = 1 : Enable sonar readings.
Get Environment sensors command:
[Command] = 0x56
Write -> [0x56]
Read -> [0x56] [Temperature] [Humidity] [Rain] [Send Number][CheckSum_H] [CheckSum_L]
The Environment sensor command retrieves the information of the environment temperature, humidity
and rain where:
[Temperature] retrieves a temperature between 0ºC to 125ºC;
[Humidity] retrieves the relative humidity between 0% and 100%;
[Rain] Detects whether it is or is not raining.
Get communication status command:
[Command] = 0x57
Write -> [0x57]
Read -> [0x57] [Communication Status] [Send Number] [CheckSum_H] [CheckSum_L]
The communication status command retrieves the information about the communication status where:
[Communication Status] is the communication status between the Sensor&Management
Board and the navigation computer, the Sonar Controller board, the Motor Controller Board
and other slave devices. [AXBXCXEF]
[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 Motor Controller Board;
[B]=1 : No communication or communication error with the Motor Controller Board;
[C]=0 : Normal communication with the Sonar Controller Board;
[C]=1 : No communication or communication error the Sonar Controller Board;
[E]=0 : Normal communication with the Slave device 1;
[E]=1 : No communication or communication error the Slave device 1;
[F]=0 : Normal communication with the Slave device 2;
[F]=1 : No communication or communication error the Slave device 2.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 59