Setup periodic sending of driver states (status messages)
warning
Using driver API you can set up periodic sending of status messages.
Message - Setup driver sampling
info
Message is unicast, with SID = 24
| Payload byte | Bit | Description |
|---|---|---|
| 0 | 0x08 | |
| 1 | 0 | Motor 3 |
| 1 | 1 | Motor 4 |
| 1 | 2-3 | reserved |
| 1 | 4 | Driver state 2 |
| 1 | 5-7 | reserved |
| 2 | 0:1 | reserved |
| 2 | 2 | Driver state 1 |
| 2 | 3 | Range and reference |
| 2 | 4 | Supply 1 |
| 2 | 6 | Motor 1 |
| 2 | 7 | Motor 2 |
| 3-4 | [uint16] | Sending period in [ms] |
| 5-6 | [uint16] | First period in [ms]. (How long will device wait to send first message). Set to 0, to stop sending message. |
You can set different sampling time for each status message. Just setup sampling individually for each message.
Status messages content overview
| Message name | Send values |
|---|---|
| Driver state 1 | /driver/state, /driver/mode, "driver/temp, /driver/limit, /driver/error |
| Driver state 2 | /driver/cmd, /driver/totallimit |
| Range and reference | Voltage range, Current range, /driver/uref, /driver/iref |
| Supply 1 | /driver/supply/currentf and /driver/supply/voltage in relative units, Total charge in [mAh] |
| Motor 1 | /driver/motor/currentf and /driver/motor/voltage in relative units. /driver/energy |
| Motor 2 | /driver/power, motor angle, /driver/motor/rpmf, /driver/motor/odo in relative units. |
| Motor 3 | /driver/currentq, /driver/currentd + current references |
| Motor 4 | Rthermistor, /driver/motor/mres, Actual motor torque, Maximum possible motor torque |