Configuration Messages¶
The Rover comes with sane default settings, but if needed the settings can be changed using the configuration messages below.
Note
These settings are set during runtime and will not persist between reboots of the Rover. Send the message periodically in your application to work around this limitation.
Battery Jumper Config¶
CAN ID: 0x300 | DLC: 1 byte
Set the power board's current jumper configuration.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0-3 | X11 and X12 headers jumper configuration: • 0 = X11 OFF, X12 OFF • 1 = X11 ON, X12 OFF • 2 = X11 OFF, X12 ON • 3 = X11 ON, X12 ON |
Battery Regulated Output Voltage¶
CAN ID: 0x301 | DLC: 4 bytes
Set the target output voltage for the regulated power output. The power board will try to get as close as possible to the given voltage.
WARNING: Measure the voltage and verify it's correct before connecting anything to the output. Otherwise you may damage the connected components.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Regulated output voltage in mV. Unsigned 32-bit integer. Voltage range depends on JP1 jumper configuration: • JP1 = 5V: range is 3-6V • JP1 = 12V: range is 6-16V |
Battery Output ON/OFF¶
CAN ID: 0x302 | DLC: 2 bytes
Set the battery output state for the main power and the regulated power outputs.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0 or 1 | Main power output state. 0 is OFF, 1 is ON. Note that turning the main power off will also turn the regulated power off. |
| 1 | 0 or 1 | Regulated power output state. 0 is OFF, 1 is ON. |
Battery Report Frequency¶
CAN ID: 0x303 | DLC: 2 bytes
Set the battery board report frequency.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | ms | Reporting period in ms, i.e. how often to send measurements over CAN. Unsigned 16-bit integer. Setting to 0 ignores this value. |
Battery Low Voltage Cutoff¶
CAN ID: 0x304 | DLC: 8 bytes
Configure the low-voltage cutoff parameters. Two cutoff voltages are configured: one for low load and one for high load conditions. When any connected cell is below the cutoff voltage, main power is turned off to protect the battery.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Voltage in mV | Cutoff voltage for the low load condition. Unsigned 16-bit integer. |
| 2-3 | Voltage in mV | Cutoff voltage for the high load condition. Unsigned 16-bit integer. This value must be lower than the low load condition cutoff voltage. |
| 4-7 | Current in mA | High load threshold current. If the current draw is higher than this value, the power board will use the high load cutoff voltage. |
Servo Set Voltage¶
CAN ID: 0x305 | DLC: 2 bytes
Set the servo operating voltage. The servo board will try to get as close as possible to the given voltage.
WARNING: Check the servo voltage ratings before setting this value, as setting too high a value might damage the servo.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Voltage in mV | Servo voltage in mV. Unsigned 16-bit integer. |
Servo PWM Config¶
CAN ID: 0x306 | DLC: 2 bytes
Set the steering servo PWM parameters.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | 1 - 333 | PWM frequency in Hz. Unsigned 16-bit integer. Setting to 0 ignores this value. |
Servo Report Frequency¶
CAN ID: 0x307 | DLC: 2 bytes
Set the servo board report frequency.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | ms | Reporting period in ms, i.e. how often to send measurements over CAN. Unsigned 16-bit integer. Setting to 0 ignores this value. |
Motor PWM Config¶
CAN ID: 0x308 | DLC: 2 bytes
Set the ESC PWM parameters.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | 1 - 333 | PWM frequency in Hz. Unsigned 16-bit integer. Setting to 0 ignores this value. |
Servo Reverse Direction¶
CAN ID: 0x309 | DLC: 0 bytes
Reverse the steering servo control direction.
Motor Reverse Direction¶
CAN ID: 0x30A | DLC: 0 bytes
Reverse the motor control direction.
Servo Failsafe¶
CAN ID: 0x30B | DLC: 5 bytes
Configure the steering servo failsafe mechanism. This feature takes over control of the steering servo when the module does not receive any steering messages within the specified timeout period.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0 or 1 | Failsafe state: 0 = off, 1 = on |
| 1-2 | ms | Failsafe timeout period (how many ms without steering messages until failsafe triggers). Defaults to 100ms. |
| 3-4 | 1000-2000 | Pulse width to set when failsafe triggers. Defaults to 1500µs (neutral position). |
Motor Failsafe¶
CAN ID: 0x30C | DLC: 5 bytes
Configure the motor control failsafe mechanism. This feature takes over control of the motor when the module does not receive any throttle messages within the specified timeout period.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0 or 1 | Failsafe state: 0 = off, 1 = on |
| 1-2 | ms | Failsafe timeout period (how many ms without throttle messages until failsafe triggers). Defaults to 100ms. |
| 3-4 | 1000-2000 | Pulse width to set when failsafe triggers. Defaults to 1500µs (neutral position). |
Steering Subtrim¶
CAN ID: 0x30D | DLC: 2 bytes
Set the subtrim value (permanent offset) of the steering servo.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | -500 to 500 | Steering trim pulse-width in microseconds. Signed 16-bit integer. |
Throttle Subtrim¶
CAN ID: 0x30E | DLC: 2 bytes
Set the subtrim value (permanent offset) of the throttle.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | -500 to 500 | Throttle trim pulse-width in microseconds. Signed 16-bit integer. |
Battery Main Power Overcurrent Threshold¶
CAN ID: 0x30F | DLC: 4 bytes
Set the overcurrent threshold for the main power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Current in mA | Overcurrent threshold. Unsigned 32-bit integer. This value determines the maximum current draw allowed before the main power output is turned off to protect the system. |
Battery Regulated Output Overcurrent Threshold¶
CAN ID: 0x310 | DLC: 4 bytes
Set the overcurrent threshold for the regulated power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Current in mA | Overcurrent threshold. Unsigned 32-bit integer. This value determines the maximum current draw allowed before the regulated power output is turned off to protect the system. |
Front Left Wheel Parameters¶
CAN ID: 0x311 | DLC: 8 bytes
Set the wheel parameters for more accurate odometry.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Cog count | Number of cogs in the wheel speed module. Unsigned 32-bit integer. |
| 4-7 | Wheel diameter in m | Wheel outer diameter measured in meters. 32-bit float. |
Front Right Wheel Parameters¶
CAN ID: 0x312 | DLC: 8 bytes
Set the wheel parameters for more accurate odometry.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Cog count | Number of cogs in the wheel speed module. Unsigned 32-bit integer. |
| 4-7 | Wheel diameter in m | Wheel outer diameter measured in meters. 32-bit float. |
Rear Left Wheel Parameters¶
CAN ID: 0x313 | DLC: 8 bytes
Set the wheel parameters for more accurate odometry.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Cog count | Number of cogs in the wheel speed module. Unsigned 32-bit integer. |
| 4-7 | Wheel diameter in m | Wheel outer diameter measured in meters. 32-bit float. |
Rear Right Wheel Parameters¶
CAN ID: 0x314 | DLC: 8 bytes
Set the wheel parameters for more accurate odometry.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Cog count | Number of cogs in the wheel speed module. Unsigned 32-bit integer. |
| 4-7 | Wheel diameter in m | Wheel outer diameter measured in meters. 32-bit float. |
AD Battery Jumper Config¶
CAN ID: 0x600 | DLC: 1 byte
Set the AD power board's current jumper configuration.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0-3 | X11 and X12 headers jumper configuration: • 0 = X11 OFF, X12 OFF • 1 = X11 ON, X12 OFF • 2 = X11 OFF, X12 ON • 3 = X11 ON, X12 ON |
AD Battery Regulated Output Voltage¶
CAN ID: 0x601 | DLC: 4 bytes
Set the target output voltage for the regulated power output. The power board will try to get as close as possible to the given voltage.
WARNING: Measure the voltage and verify it's correct before connecting anything to the output. Otherwise you may damage the connected components.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Regulated output voltage in mV. Unsigned 32-bit integer. Voltage range depends on JP1 jumper configuration: • JP1 = 5V: range is 3-6V • JP1 = 12V: range is 6-16V |
AD Battery Output ON/OFF¶
CAN ID: 0x602 | DLC: 2 bytes
Set the AD battery output state for the main power and the regulated power outputs.
| Byte number | Values | Description |
|---|---|---|
| 0 | 0 or 1 | Main power output state. 0 is OFF, 1 is ON. Note that turning the main power off will also turn the regulated power off. |
| 1 | 0 or 1 | Regulated power output state. 0 is OFF, 1 is ON. |
AD Battery Report Frequency¶
CAN ID: 0x603 | DLC: 2 bytes
Set the AD battery board report frequency.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | ms | Reporting period in ms, i.e. how often to send measurements over CAN. Unsigned 16-bit integer. Setting to 0 ignores this value. |
AD Battery Low Voltage Cutoff¶
CAN ID: 0x604 | DLC: 8 bytes
Configure the low-voltage cutoff parameters for the AD battery. Two cutoff voltages are configured: one for low load and one for high load conditions. When any connected cell is below the cutoff voltage, main power is turned off to protect the battery.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Voltage in mV | Cutoff voltage for the low load condition. Unsigned 16-bit integer. |
| 2-3 | Voltage in mV | Cutoff voltage for the high load condition. Unsigned 16-bit integer. This value must be lower than the low load condition cutoff voltage. |
| 4-7 | Current in mA | High load threshold current. If the current draw is higher than this value, the power board will use the high load cutoff voltage. |
AD Battery Main Power Overcurrent Threshold¶
CAN ID: 0x60F | DLC: 4 bytes
Set the overcurrent threshold for the AD battery main power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Current in mA | Overcurrent threshold. Unsigned 32-bit integer. This value determines the maximum current draw allowed before the main power output is turned off to protect the system. |
AD Battery Regulated Output Overcurrent Threshold¶
CAN ID: 0x610 | DLC: 4 bytes
Set the overcurrent threshold for the AD battery regulated power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Current in mA | Overcurrent threshold. Unsigned 32-bit integer. This value determines the maximum current draw allowed before the regulated power output is turned off to protect the system. |