Status Messages¶
These messages are available to read the status of the Rover.
Note
All status messages are read-only.
Battery Cell Voltages¶
CAN ID: 0x200 | DLC: 7 bytes
Report the individual cell voltages of the connected battery. This message is sent twice: once with values for cells 1-3 and once for cells 4-6.
Cell Group Selection (Byte 0):
0= Cell group 0 (Cells 1, 2, 3)1= Cell group 1 (Cells 4, 5, 6)
Cell Group 0 (Cells 1-3)¶
| Byte number | Values | Description |
|---|---|---|
| 1-2 | Voltage in mV | Cell 1 voltage. Unsigned 16-bit integer. |
| 3-4 | Voltage in mV | Cell 2 voltage. Unsigned 16-bit integer. |
| 5-6 | Voltage in mV | Cell 3 voltage. Unsigned 16-bit integer. |
Cell Group 1 (Cells 4-6)¶
| Byte number | Values | Description |
|---|---|---|
| 1-2 | Voltage in mV | Cell 4 voltage. Unsigned 16-bit integer. |
| 3-4 | Voltage in mV | Cell 5 voltage. Unsigned 16-bit integer. |
| 5-6 | Voltage in mV | Cell 6 voltage. Unsigned 16-bit integer. |
Battery Regulated Output¶
CAN ID: 0x201 | DLC: 8 bytes
Report the voltage and current of the regulated power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Output voltage in mV. Unsigned 32-bit integer. |
| 4-7 | Current in mA | Output current in mA. Unsigned 32-bit integer. |
Battery Output¶
CAN ID: 0x202 | DLC: 8 bytes
Report the voltage and current of the main power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Output voltage in mV. Unsigned 32-bit integer. |
| 4-7 | Current in mA | Output current in mA. Unsigned 32-bit integer. |
Servo Voltage¶
CAN ID: 0x203 | DLC: 2 bytes
Report the servo operating voltage.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Voltage in mV | Servo voltage in mV. Unsigned 16-bit integer. |
Servo Current¶
CAN ID: 0x204 | DLC: 2 bytes
Report the servo current usage.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Current in mA | Servo current usage in mA. Unsigned 16-bit integer. |
Battery Voltage¶
CAN ID: 0x205 | DLC: 2 bytes
Report the battery voltage as seen from the steering servo.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | Voltage in mV | Battery voltage in mV. Unsigned 16-bit integer. |
Front Left Wheel Speed¶
CAN ID: 0x210 | DLC: 8 bytes
Reports the front left wheel speed.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Varies | Wheel speed in RPM. Signed 32-bit integer. |
| 4-7 | Varies | Wheel speed in km/h. Signed 32-bit integer. |
Front Right Wheel Speed¶
CAN ID: 0x211 | DLC: 8 bytes
Reports the front right wheel speed.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Varies | Wheel speed in RPM. Signed 32-bit integer. |
| 4-7 | Varies | Wheel speed in km/h. Signed 32-bit integer. |
Rear Left Wheel Speed¶
CAN ID: 0x212 | DLC: 8 bytes
Reports the rear left wheel speed.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Varies | Wheel speed in RPM. Signed 32-bit integer. |
| 4-7 | Varies | Wheel speed in km/h. Signed 32-bit integer. |
Rear Right Wheel Speed¶
CAN ID: 0x213 | DLC: 8 bytes
Reports the rear right wheel speed.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Varies | Wheel speed in RPM. Signed 32-bit integer. |
| 4-7 | Varies | Wheel speed in km/h. Signed 32-bit integer. |
Obstacle Detector Front Distance¶
CAN ID: 0x214 | DLC: 8 bytes
Reports the front obstacle detector distances.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | 20-5000 | Distance measured by the left sensor in mm. |
| 2-3 | 20-5000 | Distance measured by the mid-left sensor in mm. |
| 4-5 | 20-5000 | Distance measured by the mid-right sensor in mm. |
| 6-7 | 20-5000 | Distance measured by the right sensor in mm. |
Obstacle Detector Rear Distance¶
CAN ID: 0x215 | DLC: 8 bytes
Reports the rear obstacle detector distances.
| Byte number | Values | Description |
|---|---|---|
| 0-1 | 20-5000 | Distance measured by the left sensor in mm. |
| 2-3 | 20-5000 | Distance measured by the mid-left sensor in mm. |
| 4-5 | 20-5000 | Distance measured by the mid-right sensor in mm. |
| 6-7 | 20-5000 | Distance measured by the right sensor in mm. |
AD Battery Cell Voltages¶
CAN ID: 0x500 | DLC: 7 bytes
Report the individual cell voltages of the connected battery. This message is sent twice: once with values for cells 1-3 and once for cells 4-6.
Cell Group Selection (Byte 0):
0= Cell group 0 (Cells 1, 2, 3)1= Cell group 1 (Cells 4, 5, 6)
Cell Group 0 (Cells 1-3)¶
| Byte number | Values | Description |
|---|---|---|
| 1-2 | Voltage in mV | Cell 1 voltage. Unsigned 16-bit integer. |
| 3-4 | Voltage in mV | Cell 2 voltage. Unsigned 16-bit integer. |
| 5-6 | Voltage in mV | Cell 3 voltage. Unsigned 16-bit integer. |
Cell Group 1 (Cells 4-6)¶
| Byte number | Values | Description |
|---|---|---|
| 1-2 | Voltage in mV | Cell 4 voltage. Unsigned 16-bit integer. |
| 3-4 | Voltage in mV | Cell 5 voltage. Unsigned 16-bit integer. |
| 5-6 | Voltage in mV | Cell 6 voltage. Unsigned 16-bit integer. |
AD Battery Regulated Output¶
CAN ID: 0x501 | DLC: 8 bytes
Report the voltage and current of the regulated power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Output voltage in mV. Unsigned 32-bit integer. |
| 4-7 | Current in mA | Output current in mA. Unsigned 32-bit integer. |
AD Battery Output¶
CAN ID: 0x502 | DLC: 8 bytes
Report the voltage and current of the main power output.
| Byte number | Values | Description |
|---|---|---|
| 0-3 | Voltage in mV | Output voltage in mV. Unsigned 32-bit integer. |
| 4-7 | Current in mA | Output current in mA. Unsigned 32-bit integer. |