Sehlopha sa Hunter AgileX Robotics
“
Tlhahisoleseding ya Sehlahiswa
Litlhaloso
- Lebitso la Sehlahisoa: Sehlopha sa BUNKER PRO AgileX Robotic
- Phetolelo ea Buka ea Mosebelisi: V.2.0.1
- Phetolelo ea Tokomane: 2023.09
- Boholo Mojaro: 120KG
- Mocheso oa ho sebetsa: -20°C ho isa ho 60°C
- Boemo ba Tšireletso ea IP: IP66 (haeba e sa etsoa)
Litaelo tsa Tšebeliso ea Sehlahisoa
Boitsebiso ba Tšireletseho
Pele u sebelisa roboto, etsa bonnete ba hore u bala le ho utloisisa polokeho eohle
tlhahisoleseding e fanoeng bukeng ea litaelo. Etsa tlhahlobo ea kotsi ea
tsamaiso e feletseng ea liroboto le ho hokahanya lisebelisoa tse hlokahalang tsa tšireletso.
Hlokomela hore roboto ha e na polokeho e felletseng ea boikemelo
mesebetsi.
Tikoloho
Bala bukana ka hloko pele u sebelisa ea pele ho utloisisa
ts'ebetso ea mantlha le litlhaloso. Khetha sebaka se bulehileng bakeng sa hole
taolo kaha koloi e haelloa ke li-sensor tsa ho qoba litšitiso ka boiketsetso.
Sebetsa ka mocheso o pakeng tsa -20°C ho isa ho 60°C.
Hlahloba
Pele o sebetsa, etsa bonnete ba hore lisebelisoa tsohle li qosoa ebile li hantle
boemo. Sheba hore na ho na le lintho tse sa tloaelehang koloing le remote
laola betri. Lokolla switch ea ho emisa ts'ohanyetso pele u e sebelisa.
Tshebetso
Sebetsa libakeng tse bulehileng ka har'a moeli oa pono. U se ke ua feta
moeli o moholo oa mojaro oa 120KG. Etsa bonnete ba hore bohareng ba boima bo teng
setsi sa ho potoloha ha ho kenya lisebelisoa. Thepa lisebelisoa
ha voltage marotholi ka tlase ho 48V mme o khaotse ho sebelisa hang-hang haeba
lintho tse sa tloaelehang lia bonoa.
LBH
P: Ke lokela ho etsa eng haeba ke kopana le ntho e sa tloaelehang ha ke ntse ke sebelisa
BUNKER PRO?
A: Khaotsa ho sebelisa thepa hang-hang ho qoba bobeli
tshenyo. Ikopanye le basebetsi ba amehang ba tekheniki bakeng sa thuso.
P: Na BUNKER PRO e ka qoba litšitiso ka bo eona?
A: Che, koloi ka boeona ha e na tšitiso e ikemetseng
li-sensors tsa ho qoba. Sebetsa libakeng tse batlang li bulehile bakeng sa hole
taolo.
"`
BUNKER
PRO
Mosebedisi
Bukana
BUNKER
Mosebelisi oa Sehlopha sa Pro AgileX Robotic
Buka ea litaelo V.2.0.1
2023.09
Tokomane
phetolelo
No. Version
Letsatsi
E hlophisitsoeng ke
Reviewer
Lintlha
1
V1.0.0 2023/3/17
moralo oa pele
2
V2.0.0 2023/09/02
Kenya setšoantšo sa phetolelo Fetola mokhoa oa ho sebelisa sephutheloana sa ROS
Ho hlahloba litokomane
1 / 35
3
V2.0.1 2023/09/018
Lethathamo le lumellanang la paramethara ea koloi Tafole e ekelitsoeng 3.2 Lintlha tsa phoso
tafole tlhaloso
Khaolo ena e na le tlhahisoleseding ea bohlokoa ea tšireletso, pele roboto e sebelisoa ka lekhetlo la pele, motho leha e le ofe kapa mokhatlo o tlameha ho bala le ho utloisisa boitsebiso bona pele ba sebelisa sesebelisoa. Haeba u na le lipotso mabapi le tšebeliso, ka kopo ikopanye le rona ho support@agilex.ai. Ka kopo latela le ho kenya tšebetsong litaelo tsohle tsa kopano le litataiso likhaolong tsa bukana ena, e leng bohlokoa haholo. Tlhokomelo e khethehileng e lokela ho lefshoa temaneng e amanang le matšoao a temoso.
Bohlokoa
Polokeho
Boitsebiso
Boitsebiso bo bukeng ena ha bo kenyelle moralo, ho kenya le ho sebetsa ha roboto e feletseng, ebile ha e kenyelle lisebelisoa tsohle tse ka amang ts'ireletso ea tsamaiso ena e feletseng. Moralo le ts'ebeliso ea sistimi e felletseng e hloka ho ikamahanya le litlhoko tsa polokeho tse thehiloeng ho litekanyetso le melaoana ea naha eo roboto e kenngoeng ho eona. Bahokahanyi le bareki ba ho qetela ba BUNKERPRO ba na le boikarabelo ba ho etsa bonnete ba ho lumellana le litokisetso tse nepahetseng le melao le melaoana e sebetsang, le ho netefatsa hore ha ho na likotsi tse kholo ts'ebetsong e feletseng ea roboto. Sena se kenyelletsa empa ha se felle feela ho tse latelang:
Katleho
le
boikarabelo
Etsa tlhahlobo ea kotsi ea tsamaiso e feletseng ea roboto. Hokela lisebelisoa tse ling tsa polokeho ea mechini e meng e hlalositsoeng ke tlhahlobo ea kotsi
mmoho. Netefatsa hore moralo le ho kengoa ha li-peripherals tsa liroboto kaofela, ho kenyeletsoa
lisebelisoa tsa software le hardware, li nepahetse.
2 / 35
Roboto ena ha e na ts'ebetso e nepahetseng ea ts'ireletso ea roboto e ikemetseng e ikemetseng, ho kenyeletsoa empa e sa lekanyetsoa ho thibela ho thulana, ho thibela ho oela, temoso ea ho atamela libōpuoa, joalo-joalo. Mesebetsi e amehang e hloka hore bahokahanyi le bareki ba qetelle ba etse tlhahlobo ea polokeho ho latela litokisetso tse amehang le melao le melaoana e sebetsang ho netefatsa hore roboto e tsoetseng pele ha e na likotsi leha e le life tse kholo le likotsi tse patiloeng ha li sebelisoa.
Bokella litokomane tsohle tsa tekheniki file: ho kenyeletsa tlhahlobo ea kotsi le bukana ena. Tseba likotsi tse ka bang teng tsa polokeho pele o sebelisa le ho sebelisa sesebelisoa.
Tikoloho
Bakeng sa ts'ebeliso ea pele, ka kopo bala bukana ena ka hloko ho utloisisa litaba tsa mantlha tsa ts'ebetso le litlhaloso tsa ts'ebetso.
Khetha sebaka se batlang se bulehile bakeng sa taolo e hole, hobane koloi ka boeona ha e na lisebelisoa tsa ho qoba litšitiso tsa othomathike.
Sebelisa ka mocheso ambient ea -20-60. Haeba koloi e sa etse boemo ba ts'ireletso ea IP ka bomong, e thibela metsi le lerole-
matla a bopaki ke IP66.
Hlahloba
Netefatsa hore sesebelisoa ka seng se na le tefiso e lekaneng. Netefatsa hore koloi ha e na lintho tse sa tloaelehang tse totobetseng. Sheba hore na betri ea remote control e na le tjhaji e lekaneng. Etsa bonnete ba hore switch ea ho emisa ts'ohanyetso e lokollotsoe ha u sebelisa.
Tshebetso
Etsa bonnete ba hore sebaka se potolohileng se batla se bulehile nakong ea ts'ebetso. Taolo ea hole ka har'a moeli oa pono. Boima bo boholo ba BUNKERPRO ke 120KG. Ha o sebelisoa, etsa bonnete ba hore moputso ha o
ho feta 120KG. Ha o kenya katoloso ea kantle bakeng sa BUNKERPRO, netefatsa setsi sa boima ba
katoloso le ho etsa bonnete ba hore e bohareng ba ho potoloha. Ha thepa ea voltage ka tlase ho 48V, ka kopo e lefise ka nako. Ha sesebelisoa se sa tloaeleha, ka kopo emisa ho se sebelisa hang-hang ho qoba tšenyo ea bobeli. Ha thepa e sa tloaeleha, ka kopo ikopanye le basebetsi ba amehang ba tekheniki 'me u se ke ua etsa joalo
sebetsana ntle le tumello.
3 / 35
Ka kopo e sebelise tikolohong e fihlelang litlhoko tsa boemo ba ts'ireletso ho latela boemo ba ts'ireletso ea IP ea lisebelisoa.
U se ke ua sutumetsa koloi ka ho toba. Ha o tjhaja, etsa bonnete ba hore mocheso o leng teng o feta 0°C.
Tlhokomelo
Kamehla hlahloba tsitsipano ea pina e emisitsoeng, 'me u tiise pina ka mor'a 150~200H. Kamora 'lihora tse ling le tse ling tse 500 tsa ts'ebetso, hlahloba liboutu le linate tsa karolo ka' ngoe ea 'mele. Ke Tiisa
hang-hang haeba li hlephile. E le ho netefatsa bokhoni ba polokelo ea betri, betri e lokela ho bolokoa ka tefo,
mme betri e lokela ho tjhajwa kgafetsa haeba e sa sebediswe nako e telele.
Tlhokomeliso
Karolo ena e na le litemoso tsa ho sebelisa le ho nts'etsapele BUNKERPRO.
Betri
mehato ya tlhokomelo
Ha BUNKERPRO e tloha fekthering, betri ha e lefelloe ka botlalo. Matla a khethehileng a betri a ka hlahisoa ka voltage bonts'a mitha ka morao ho chassis ea BUNKERPRO kapa bala ka sebopeho sa puisano sa libese tsa CAN;
Ka kopo o seke oa tjhaja betri ka mora hore matla a yona a fele. Ka kopo e lefise ka nako ha molumo o tlasetage ka morao BUNKERPRO e ka tlaase ho 48V;
Maemo a tsitsitseng a ho boloka: Mocheso o motle ka ho fetisisa bakeng sa polokelo ea betri ke -10 ° C ~ 45 ° C; haeba e bolokoa ntle le tšebeliso, betri e tlameha ho nchafatsoa le ho tsoa hang ka khoeli e 'ngoe le e 'ngoe, ebe e bolokoa ka molumo o felletseng.tage state. Ka kopo u se ke ua kenya betri mollong kapa ua futhumatsa betri, 'me ka kopo u se ke ua boloka betri sebakeng sa mocheso o phahameng;
Ho tjhaja: Betri e tlameha ho tjhajwa ka tjhaja ya betri ya lithium e ikemiseditseng. Se ke oa tjhaja betri ka tlase ho 0°C, hape se sebedise dibetri, disebediswa tsa motlakase, le ditjhaja tse seng maemong a tlwaelehileng.
Mehato ya tlhokomelo
bakeng sa
e sebetsang
tikoloho
Mocheso o sebetsang oa BUNKERPRO ke - 20 ~ 60; ka kopo u se ke ua e sebelisa sebakeng seo mocheso o leng ka tlase ho -20 kapa ho feta 60;
4 / 35
Litlhokahalo tsa mongobo o lekanyelitsoeng tikolohong ea ts'ebetso ea BUNKERPRO ke: boholo ba 80%, bonyane 30%; Ka kopo o se ke oa e sebelisa tikolohong e nang le khase e senyang le e tukang kapa tikolohong e haufi le lintho tse tukang;
U se ke ua e boloka ho pota-potile lintho tse futhumatsang tse kang lihitara kapa li-resistors tse kholo tse kopantsoeng; Ntle le mofuta o ikhethileng (o etselitsoeng maemo a ts'ireletso ea IP), BUNKER PRO
ha e kenelle metsi, ka hona, ka kopo o se e sebelise libakeng tse nang le pula, lehloa kapa metsi a emeng; Ho khothalletsoa hore bophahamo ba tikoloho ea ts'ebetso ha boa lokela ho feta 1000M; Ho kgothaletswa hore mocheso o fapane pakeng tsa motšehare le bosiu ts'ebetsong
tikoloho ha ea lokela ho feta 25 ° C; Kamehla hlahloba le ho boloka lebili la tsitsipano ea pina.
Mehato ya tlhokomelo
bakeng sa
motlakase
kantle
Matla a motlakase a ka morao ha aa lokela ho feta 10A, 'me matla a feletseng ha aa lokela ho feta 480W;
Polokeho
mehato ya tlhokomelo
Haeba ho na le lipelaelo nakong ea ts'ebeliso, ka kopo latela bukana ea litaelo kapa ikopanye le basebetsi ba tekheniki;
Pele o sebelisoa, ela hloko boemo ba tšimo, 'me u qobe ts'ebetso e fosahetseng e tla baka bothata ba polokeho ea basebetsi;
Maemong a tšohanyetso, tobetsa konopo ea ho emisa ts'ohanyetso ebe o tima lisebelisoa; Ntle le ts'ehetso ea tekheniki le tumello, ka kopo u seke oa fetola tsa kahare
sebopeho sa thepa.
Tse ding
mehato ya tlhokomelo
U se ke ua liha kapa ua beha koloi fatše ha u e jara le ho e emisa; Bakeng sa bao e seng litsebi, ka kopo u se ke ua qhaqha koloi ntle le tumello.
LIEKETSENG
5 / 35
LIEKETSENG
Tokomane
phetolelo
Bohlokoa
Polokeho
Boitsebiso
Tlhokomeliso
LIEKETSENG
1
Selelekela
ho
BUNKERPRO
1.1 Lenane la lihlahisoa 1.2 Litlhaloso tsa theknoloji 1.3 Tlhokahalo ea ntlafatso
2
The
Lintho tsa motheo
2.1 Litaelo mabapi le likhokahano tsa motlakase 2.2 Litaelo mabapi le taolo e hole 2.3 Litaelo mabapi le litlhoko tsa taolo le metsamao
3
Sebelisa
le
Tsoelo-pele
3.1 Tšebeliso le ts'ebetso 3.2 Ho tjhaja 3.3.2 Khokahano ea CAN CAN 3.3.3 Ho phethahala ha taolo ea taelo ea CAN 3.4 ntlafatso ea Firmware 3.5 BUNKERPRO ROS Package Use Ex.ample
4
Q&A
5
Sehlahisoa
Litekanyo
5.1 Setšoantšo sa setšoantšo sa boholo ba sehlahisoa
6 / 35
5.2 Setšoantšo sa setšoantšo sa litekanyo tse atolositsoeng tsa tšehetso
1
Selelekela
ho
BUNKERPRO
BUNKERPRO ke koloi ea chassis e lateloang bakeng sa lits'ebetso tsa indasteri tse pota-potileng. E na le litšoaneleho tsa ts'ebetso e bonolo le e bonolo, sebaka se seholo sa nts'etsopele, se loketseng bakeng sa nts'etsopele le ts'ebeliso likarolong tse sa tšoaneng, tsamaiso e ikemetseng ea ho emisa, ho ts'oaroa ha boima bo boima, bokhoni bo matla ba ho hloa, le ho khona ho hloa litepisi. E ka sebelisoa bakeng sa nts'etsopele ea liroboto tse khethehileng tse kang liroboto bakeng sa ho hlahloba le ho hlahloba, ho pholosa le EOD, ho thunngoa ho khethehileng, lipalangoang tse khethehileng, joalo-joalo, ho rarolla tharollo ea motsamao oa liroboto.
1.1
Sehlahisoa
lethathamo
Name BUNKER PRO Robot Body Battery Charger(AC 220V) Aviation male plug (4-Pin) FS remote control transmitter(Boikhethelo) USB to CAN puisano module
Bongata x1 x1 x1 x1 x1
1.2
Theknoloji
litlhaloso
Mefuta ea Parameter Litlhaloso tsa mochini
Lintho L × W × H (mm)
Wheelbase (mm)
Boleng ba 1064*845*473
–
7 / 35
Botlaaseng ba mabili a ka pele/ka morao (mm)
–
Bophahamo ba chassis
120
Track bophara
150
Boima ba thipa (kg)
180
Mofuta oa Leshala
Betri ea lithium
Litekanyetso tsa betri
60AH
Motlakase oa motlakase
2×1500W Brushless servo motor
Enjene ea ho khanna
–
Mokhoa oa ho paka makoloi
–
Ho tsamaisa
Setaele sa mefuta e fapaneng ea pina
Foromo ea ho fanyeha
Christie suspension + Matilda fourwheel balance suspension
Phokotso ea motlakase oa ho tsamaisa
–
karolelano
Steering motor encoder Drive motor phokotso karo-karolelano
–
1 7.5
Khanna sensor ea motlakase
Photoelectric increment 2500
Litekanyetso tsa ts'ebetso
IP Kereiti
IP22
Lebelo le phahameng (km/h)
1.7m/s
Bonyane sebaka sa ho phethola (mm)
E ka fetoha sebakeng
Boholo ba maemo (°)
30°
Boholo ba ho tšela litšitiso
180
8 / 35
Taolo
Phatlalatso ea fatše (mm) Boholo ba bophelo ba betri (h) Bohole bo holimo (km)
Nako ea ho tjhaja (h) Mocheso wa ho sebetsa ()
Mokhoa oa ho laola
RC transmitter System interface
740 8
15KM 4.5
-10 ~ 60 Taolo ea Remote Taolo ea Taolo ea Taolo ea 2.4G / sebaka se hole 200M
KA
1.3
Tlhokahalo
bakeng sa
ntshetsopele
BUNKERPRO e na le taolo e hole ea FS fekthering, mme basebelisi ba ka laola BUNKERPRO mobile robot chassis ka taolo e hole ho phethela ts'ebetso ea ho sisinyeha le ho potoloha; BUNKERPRO e na le sebopeho sa CAN, 'me basebelisi ba ka etsa nts'etsopele ea bobeli ka eona.
2
The
Lintho tsa motheo
Karolo ena e tla fana ka kenyelletso ea motheo ho BUNKERPRO mobile robot chassis, e le hore basebelisi le bahlahisi ba be le kutloisiso ea motheo ea mochine oa BUNKERPRO.
2.1 Litaelo
on
motlakase
likhokahano
9 / 35
Likarolo tse ka morao tsa motlakase li bonts'itsoe ho Setšoantšo sa 2.1, moo Q1 e leng sebopeho sa sefofane sa CAN le 48V, Q2 ke sesebelisoa sa matla, Q3 ke sebopeho sa ho tjhaja, Q4 ke antenna, Q5 le Q6 ka ho latellana ke sehokelo sa mokhanni oa ho lokisa liphoso. taolo ea debugging interface (ha e bulehe ho ea kantle), 'me Q7 ke tšebelisano ea ponts'o ea matla.
Setšoantšo sa 2.1 Li-interface tsa Motlakase tse ka Morao Tlhaloso ea puisano ea Q1 le matla a matla e bontšoa ho Setšoantšo sa 2-2.
Pin No.1
Matla a Mofuta oa Pin
Mosebetsi le Tlhaloso
Litlhaloso
VCC
Phepelo e ntle ea matla, voltage fapaneng 46 ~ 54V, boholo ba hona joale 10A
10 / 35
2
Matla
3
KA
4
KA
GND CAN_H CAN_L
Phepelo e mpe ea motlakase CAN bese e phahameng CAN bese e tlase
Setšoantšo sa 2.2 Pin Tlhaloso ea Sehokelo sa Katoloso ea Sefofane sa Ka morao
2.2
Litaelo
on
hole
taolo
Fs remote control ke sesebelisoa sa boikhethelo bakeng sa lihlahisoa tsa BUNKER PRO. Bareki ba ka khetha ho latela litlhoko tsa sebele. Ho sebelisa taolo e hole ho ka laola habonolo chassis ea liroboto tsa BUNKER PRO. Sehlahisoang sena, re sebelisa moralo oa letsoho le letšehali. Tlhaloso le mesebetsi ea eona e ka fetisetsoa ho Setšoantšo sa 2.3. Mesebetsi ea likonopo e hlalosoa e le: SWA, SWB, SWC, SWD. SWD ha e e-s'o sebetse, har'a bona SWB ke konopo ea khetho ea mokhoa oa ho laola, e lebisitsoeng holimo ke mokhoa oa ho laola taelo, o letsetsa bohareng ke mokhoa oa ho laola hōle, S1 ke konopo ea throttle, e laola BUNKER PRO ho ea pele le morao; S2 e laola ho potoloha, 'me POWER ke Likonopo tsa phepelo ea motlakase, tobetsa 'me u li tšoare ka nako e le 'ngoe ho bulela. Ho ke ho hlokomeloe hore ha remote control e buletsoe, SWA, SWB, SWC, le SWD kaofela li hloka ho ba holimo.
11 / 35
Setšoantšo sa 2.3 Sets'oants'o sa moralo oa likonopo tsa FS tsa Remote Remote
taolo
segokahanyi
tlhaloso: Bunker : ea mohlala Vol: betri voltage Koloi: boemo ba chassis Batt: Chassis power percencetage P: Park Remoter: boemo ba betri ea taolo e hole Khoutu ea Phoso: Lintlha tsa phoso (E emetse byte [5] ka foreimi ea 211)
12 / 35
2.3
Litaelo
on
taolo
ditlhoko
le
metsamao
Re thehile sistimi ea litšupiso tse hokahaneng bakeng sa koloi e tsamaeang fatše ho latela maemo a ISO 8855 joalo ka ha ho bonts'itsoe ho Setšoantšo sa 2.4.
Setšoantšo sa 2.4 Schematic Diagram of Reference Coordinate System bakeng sa 'mele oa Likoloi Joalokaha ho bontšitsoe Setšoantšong sa 2.4, setopo sa koloi sa BUNKERPRO se tšoana le X axis ea tsamaiso e hlophisitsoeng ea litšupiso. Ka mokhoa oa taolo ea hole, sutumelletsa "remote controller" S1 pele ho ea ka tsela e nepahetseng ea X, sutumelletsa S1 morao ho ea ka tsela e mpe ea Ha e sutumelletsoa ho boleng bo tlase, lebelo la motsamao ka tsela e mpe ea 'mele oa koloi o potoloha ho tloha ka lehlakoreng le letle la X-axis ho ea ntlheng e mpe ea axis ea Y. Ha S2 e sutumelletsoa ka ho le letšehali ho ea boleng bo phahameng, lebelo la lebelo la ho potoloha ka clockwise ke lona le phahameng ka ho fetisisa. Ha S2 e sutumelletsoa ka ho le letona ho ea boleng bo holimo, motsamao o potolohang oache ke lebelo le phahameng. Boemong ba taelo ea taolo, boleng bo botle ba lebelo la mola bo bolela ho tsamaea ka tsela e nepahetseng ea X-axis, 'me boleng bo fosahetseng ba lebelo la mola bo bolela ho tsamaea ka tsela e mpe ea Theko e mpe ea lebelo la angular e bolela hore' mele oa koloi o tloha tseleng e ntle ea X-axis ho ea tseleng e mpe ea Y-axis.
3
Sebelisa
le
Tsoelo-pele
Karolo ena e kenyelletsa haholo-holo ts'ebetso ea mantlha le ts'ebeliso ea sethala sa BUNKERPRO, le mokhoa oa ho etsa nts'etsopele ea bobeli ea 'mele oa koloi ka sebopeho sa kantle sa CAN le protocol ea libese ea CAN.
13 / 35
3.1
Sebelisa
le
ts'ebetso
Hlahloba
Sheba boemo ba 'mele oa koloi. Hlahloba hore na 'mele oa koloi o na le lintho tse sa tloaelehang; haeba ho joalo, ka kopo ikopanye le tšehetso ka mor'a thekiso;
Ha u sebelisa ka lekhetlo la pele, netefatsa hore na Q2 (switch switch) e ka morao ea motlakase e hatelloa; haeba e sa hatelloa, ka kopo e hatelle 'me u e lokolle, joale e boemong ba ho lokolloa.
E qalang
Tobetsa sesebelisoa sa matla (Q2 ka phanele ea motlakase); tlas'a maemo a tloaelehileng, lebone la sesebelisoa sa motlakase le tla khantša, 'me voltmeter e tla bontša matla a betritage ka tlwaelo;
Sheba matla a betritage. Haeba voltage e kholo ho feta 48V, ho bolela hore betri ea voltage tloaelehile. Haeba voltage ka tlase ho 48V, ka kopo tjhaja; ha voltage ka tlase ho 46V, BUNKERPRO ha e khone ho tsamaea ka mokhoa o tloaelehileng.
Koala
Tobetsa konopo ea motlakase ho khaola motlakase;
Motheo
ho sebetsa
mekhoa
of
hole
taolo
Ka mor'a hore u qale mochine oa robot oa BUNKERPRO ka tloaelo, qala taolo ea hole 'me u khethe mokhoa oa ho laola hole ho laola motsamao oa sethala sa BUNKER PRO ka taolo e hole.
3.2
Ho tjhaja
BUNKERPRO e na le tjhaja e tloaelehileng ka ho sa feleng, e ka fihlelang litlhoko tsa ho tjhaja tsa bareki. The
itseng
ho sebetsa
mekhoa
of
tjhaja
ba
as
ho latela: Etsa bonnete ba hore chassis ea BUNKERPRO e maemong a ho koala. Pele o tjhaja, ka kopo etsa
etsa bonnete ba hore Q2 (switch power) e ka morao ea motlakase e tima; kenya plug ea tjhaja ka har'a segokanyimmediamentsi sa tjhaja sa Q3 karolong e ka morao ea taolo ea motlakase; Hokela tjhaja phepelong ya motlakase ebe o bulela switjha ho kenya boemo ba ho tjhaja. Ha u tjhaja ka ho sa feleng, ha ho na leseli le bontšang chassis. Hore na ea tjhaja kapa che, ho ipapisitse le sesupo sa boemo ba tjhaja.
3.3
Tsoelo-pele
14 / 35
BUNKERPRO e fana ka sebopeho sa CAN bakeng sa nts'etsopele ea mosebelisi, mme mosebelisi a ka laola 'mele oa koloi ka sebopeho sena.
Tekanyetso ea puisano ea CAN ho BUNKERPRO e amohela maemo a CAN2.0B; sekhahla sa puisano ke 500K, mme sebopeho sa molaetsa se amohela sebopeho sa MOTOROLA. Lebelo la mola oa motsamao le lebelo la ho potoloha ha chassis le ka laoloa ka sebopeho sa libese sa CAN sa kantle; BUNKERPRO e tla fana ka maikutlo mabapi le tlhahisoleseling ea hajoale ea boemo ba motsamao le tlhaiso-leseling ea boemo ba chassis ea BUNKERPRO ka nako ea nnete.
Protocol e kenyelletsa sebopeho sa maikutlo a boemo ba sistimi, moralo oa maikutlo a taolo ea motsamao, le moralo oa taolo. Litaba tsa protocol ke tse latelang:
Taelo ea maikutlo a boemo ba sistimi e kenyelletsa maikutlo a hajoale a 'mele oa koloi, maikutlo a boemo ba taolo, bophahamo ba betritage maikutlo, le maikutlo a phoso. Litaba tsa protocol li bontšoa ho Lethathamo la 3.1.
Lethathamo la 3.1 Feedback Frame of BUNKERPRO Chassis System Status
Lebitso la Taelo
Taelo ea maikutlo a boemo ba sistimi
Node e romellang Node e amohelang
Chassis ea ho tsamaisa ka terata
Sehlopha sa taolo ea ho etsa liqeto
ID 0x211
Potoloho (ms)
Fumana nako ea ho qetela (ms)
200ms
Ha ho letho
Boemo ba bolelele ba data
0x08 Mosebetsi
Mofuta oa data
pele [0]
Boemo ba hona joale ba 'mele oa koloi
e sa saenneng int8
Tlhaloso
0x00 Sistimi e maemong a tloaelehileng 0x01 Boemo ba tšohanyetso ba ho emisa 0x02 Mokhelo
15 / 35
byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] byte [5]
Taolo ea mokhoa
Matla a betri voltage bophahamo ba likotoana tse 8 Bophahamo ba betritage ke likotoana tse robeli ka tlase Reserved
Lintlha tse hlolehileng Li bolokiloe
Ho bala (palo)
e sa saenneng int8
e sa saenneng int16
e sa saenneng int8
e sa saenneng int8
0x00 Boemo ba standby 0x01 CAN mokhoa oa ho laola taelo
0x03 Mokhoa oa ho laola hole
Moqtage × 10 (ka ho nepahala ha 0.1V)
0x0 Sheba [Tlhaloso ea Phoso
Boitsebiso] 0X00
0 ~ 255 palo ea potoloho; nako le nako ha taelo e romelloa,
palo e tla eketseha hang
Lethathamo la 3.2 Tlhaloso ea Litaba tsa Phoso
Tlhaloso ea Boitsebiso ba Phoso
Bit
Tlhaloso
hanyane [0]
Tšireletso ea betritage phoso
hanyane [1]
Tšireletso ea betritage temoso
hanyane [2]
Tšireletso ea ho khaoha ha remoutu (0: e tloaelehileng, 1: ho khaoha ha remoutu)
hanyane [3]
No.1 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha)
hanyane [4]
No.2 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha)
16 / 35
hanyane [5] hanyane [6] hanyane [7]
E bolokiloe, kamehla 0 E bolokiloe, kamehla 0 E bolokiloe, ea kamehla 0
Taelo ea foreimi ea maikutlo ea taolo ea motsamao e kenyelletsa maikutlo a lebelo la mola oa hajoale le lebelo la 'mele oa koloi o tsamaeang. Litaba tse itseng tsa protocol li bonts'oa ho Lethathamo la 3.3.
Lethathamo la 3.3 Movement Control Feedback Frame
Lebitso la Taelo
Movement Control Feedback Taelo
Node e romellang Node e amohelang
ID
Baesekele ms
Fumana nako ea ho qetela (ms)
Chassis ea ho tsamaisa ka terata
Sehlopha sa taolo ea ho etsa liqeto
0x221
20ms
Ha ho letho
Bolelele ba data
0x08
Boemo
Mosebetsi
Mofuta oa data
Tlhaloso
ka nako [0] ka [1]
8-bit e phahameng lebelo le tsamaeang
8-bit e tlase lebelo le tsamaeang
saena int16
Lebelo la sebele × 1000 (ka ho nepahala ha 0.001m/s)
ka nako [2] ka [3]
8-bit lebelo le phahameng la ho potoloha
8-bit lebelo le tlase la ho potoloha
saena int16
Lebelo la sebele × 1000 (ka ho nepahala ha 0.001rad/s)
pele [4]
Reserved
–
0x00
pele [5]
Reserved
–
0x00
17 / 35
pele [6]
Reserved
–
pele [7]
Reserved
–
0x00 0x00
Foreimi ea taolo e kenyelletsa ho buloa ha taolo ea lebelo la mola, ho bula taolo ea lebelo la angular le ho hlahloba kakaretso. Litaba tse itseng tsa protocol li bontšoa ho Lethathamo la 3.4.
Lethathamo la 3.4 Moralo oa Taolo ea Movement
Lebitso la Taelo
Node e romellang Node e amohelang
Sehlopha sa taolo ea ho etsa liqeto
Node ea chassis
Bolelele ba data
0x08
Boemo
Mosebetsi
pele [0]
8-bit lebelo la mola o phahameng
pele [1]
8-bit tlase lebelo la mola
pele [2]
8-bit e phahameng ea lebelo la angular
pele [3]
8-bit e tlase ea lebelo la angular
pele [4]
Reserved
pele [5]
Reserved
pele [6]
Reserved
pele [7]
Reserved
Taeo ea taolo
ID
Potoloho (ms)
Fumana nako ea ho qetela (ms)
0x111
20ms
Ha ho letho
Mofuta oa data
Tlhaloso
saena int16
Lebelo le tsamaeang la 'mele oa koloi , unit: mm/s, range [-1700,1700]
saena int16
Angular lebelo la ho potoloha ha 'mele oa koloi, yuniti: 0.001rad/s, sebaka
[- 3140,3140]
–
0x00
–
0x00
–
0x00
–
0x00
18 / 35
Foreimi ea ho seta mode e sebelisoa ho seta sebopeho sa taolo ea terminal. Litaba tse itseng tsa protocol li bontšoa ho Lethathamo la 3.5
Lethathamo la 3.5 la Mokhoa oa Taolo oa Setting Frame
Lebitso la Taelo
Node e romellang Node e amohelang
Sehlopha sa taolo ea ho etsa liqeto
Node ea chassis
Bolelele ba data
0x01
Boemo
Mosebetsi
pele [0]
E KA laola lumella
Taelo ea ho beha Mokhoa oa Taolo
ID
Potoloho (ms)
Fumana nako ea ho qetela (ms)
0x421
20ms
500ms
Mofuta oa data o sa saena int8
Tlhaloso
0x00 Boemo ba standby 0x01 CAN mokhoa oa ho laela
Hlokomela [1] Tlhaloso ea mokhoa oa ho laola
Ha taolo e hole ea BUNKERPRO e sa sebetse, mokhoa oa ho laola ke mokhoa oa standby ka ho sa feleng, 'me u hloka ho o fetola ho mokhoa oa ho laela ho romela taelo ea taolo ea motsamao. Haeba remote e buletsoe, remote e na le matla a phahameng ka ho fetisisa 'me e ka sireletsa taolo ea litaelo. Ha remote control e fetisetsoa ho mokhoa oa taelo, e ntse e hloka ho romela taelo ea ho beha mokhoa oa ho laola pele o arabela taelo ea lebelo.
Foreimi ea ho beha maemo e sebelisoa ho hlakola liphoso tsa sistimi. Litaba tse itseng tsa protocol li bonts'oa ho Lethathamo la 3.6.
Lethathamo la 3.6 Foreimi ea Boemo ba Boemo
Lebitso la Taelo
Node e romellang Node e amohelang
Sehlopha sa taolo ea ho etsa liqeto
Node ea chassis
Taelo ea Boemo ba Boemo
ID
Potoloho (ms)
Fumana nako ea ho qetela (ms)
0x441
Ha ho letho
Ha ho letho
19 / 35
Boemo ba bolelele ba data
pele [0]
0x01 Mosebetsi
Mofuta oa data
Phoso ea ho hlakola taelo
e sa saenneng int8
Tlhaloso
0x00 hlakola liphoso tsohle 0x01 Hlakola phoso ea motor 1 0x02 Hlakola phoso ea motor 2
Tlhokomeliso ea 3: Sample data; lintlha tse latelang ke tsa liteko feela 1. Koloi e hatela pele ka lebelo la 0.15/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00
0x96
0x00
0x00
0x00
0x00
0x00
0x00
2. Koloi e potoloha ho 0.2RAD/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00
0x00
0x00
0xc8
0x00
0x00
0x00
0x00
Ntle le tlhaiso-leseling ea boemo ba chassis e tla khutlisoa, tlhaiso-leseling ea karabo ea chassis e boetse e kenyelletsa data ea koloi le data ea sensor.
Lethathamo la 3.7 Motor Speed Curent Position Information Feedback
Lebitso la Taelo
Motor Drive High Speed Information Feedback Frame
Node e romellang Node e amohelang
ID
Chassis ea ho tsamaisa ka terata
Ho etsa liqeto
yuniti ya taolo
0x251~0x254
Potoloho (ms)
Fumana nako ea ho qetela (ms)
20ms
Ha ho letho
Bolelele ba data
0x08
20 / 35
Boemo ba byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Mosebetsi oa 8-bit e phahameng ea motlakase
lebelo la 8-bit low motor
lebelo Reserved 8-bit tlaase mocheso oa koloi Reserved Drive boemo Reserved Reserved
Mofuta oa data
saena int16
int8 e sa ngolisoang -
Tlhaloso
Lebelo la hona joale la lebelo la enjene RPM
0x00 Karolo ea 1
0x00 Sheba Lethathamo la 3.9 bakeng sa lintlha
0x00 0x00
Lethathamo la 3.8 Mocheso oa Motlakase, Moqtage le Maikutlo a Boitsebiso ba Boemo
Lebitso la Taelo
Motor Drive Low Speed Information Feedback Frame
Node e romellang Node e amohelang
ID
Potoloho (ms)
Fumana nako ea ho qetela (ms)
Chassis ea ho tsamaisa ka terata
Ho etsa liqeto
yuniti ya taolo
0x261~0x264
Ha ho letho
Ha ho letho
Bolelele ba data
0x08
Boemo
Mosebetsi
Mofuta oa data
Tlhaloso
pele [0]
Reserved
–
pele [1]
Reserved
–
Lebelo la hona joale la lebelo la enjene RPM
21 / 35
byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
8-bit e phahameng ea mocheso oa koloi
8-bit e tlase mocheso oa koloi
Reserved
Boemo ba ho khanna
Reserved
Reserved
saena int16
e sa saenneng int8
–
Lethathamo la 3.9 Drive Boemo
Yuniti ea 1
0x00 Sheba Lethathamo la 3.9 bakeng sa lintlha
0x00 0x00
Byte byte [5]
Hanyane [0] hanyane [1] hanyane [2] hanyane [3] hanyane [4] hanyane [5] hanyane [6] hanyane [7]
Tlhaloso Hore na phepelo ea motlakase voltage tlase haholo (0:Tlwaelehileng
1:Ho tlase haholo) Hore na enjene e chesa ho feta tekano (0: E tloaelehileng 1:
Overheated) Rekiloe rekeloa
Lethathamo la 3.10 Odometer Feedback Frame
Lebitso la Taelo
Lethathamo la Maikutlo a Odometer
22 / 35
Node e romellang Node e amohelang
ID
Chassis ea ho tsamaisa ka terata
Ho etsa liqeto
yuniti ya taolo
Bolelele ba data
0x08
Boemo
Mosebetsi
pele [0]
Bonyane bo phahameng ka ho fetisisa ba odometer ea lebili le letšehali
pele [1]
Karolo ea bobeli e phahameng ka ho fetisisa ea lebili le letšehali
odometer
pele [2]
Karolo ea bobeli-tlase ea lebili le letšehali
odometer
pele [3]
Karolo e tlase ka ho fetisisa ea leqele
odometer ea lebili
pele [4]
Bonyane bo phahameng ka ho fetisisa ba odometer ea lebili le letona
pele [5]
Ea bobeli-holimo ka ho fetisisa karolo e nepahetseng
odometer ea lebili
pele [6]
Ea bobeli-tlase hanyenyane ea tokelo
odometer ea lebili
0x311 Mofuta oa data o saenneng int32 o saennoe ka int32
Potoloho (ms)
Fumana nako ea ho qetela (ms)
20ms
Ha ho letho
Tlhaloso
Maikutlo a Chassis a lebili le letšehali la odometer Unit: mm
Maikutlo a chassis lebili le letona la odometer Unit: mm
23 / 35
pele [7]
Karolo e tlase haholo ea odometer ea lebili le letona
Lethathamo la 3.11 Tlhahisoleseding ea Remote Control
Lebitso la Taelo
Remote Control Information Feedback Frame
Node e romellang Node e amohelang
Chassis ea ho tsamaisa ka terata
Ho etsa liqeto
yuniti ya taolo
ID 0x241
Potoloho (ms)
Fumana nako ea ho qetela (ms)
20ms
Ha ho letho
Boemo ba bolelele ba data
0x08 Mosebetsi
Mofuta oa data
pele [0]
Remoutu control SW maikutlo
e sa saenneng int8
Tlhaloso
hanyane[0-1]: SWA: 2-Holimo 3-Down hanyane[2-3]: SWB: 2-Holimo 1-Hare 3-
Palo e tlase[4-5]: SWC: 2-Holimo 1-Hare 3-
Karolo e tlase[6-7]: SWD: 2-Up 3-Down
ka nako [1] ka [2]
Lerete le letona le letšehali le le letona
Lere le letona hodimo le tlase
saennweng int8 e saennweng ka int8
Range: [-100,100] Range: [-100,100]
pele [3]
Lere le letshehadi hodimo le tlase
saena int8
Boemo: [-100,100]
24 / 35
byte [4] byte [5] byte [6] byte [7]
Ka ho le letshehadi le letshehadi le letshehadi
Kotola e ka ho le letšehali VRA
Reserved
Bala cheke
saena int8
saena in8 -
e sa saenneng int8
Lebelo: [-100,100] Lebelo: [-100,100] 0x00
0-255 palo ea potoloho
3.3.2
KA
thapo
kgokelo
BUNKERPRO e romelloa ka sehokelo sa monna oa sefofane joalo ka ha ho bonts'itsoe ho Setšoantšo sa 3.2. Tlhaloso ea thapo: bosehla ke CANH, boputsoa ke CANL, bofubelu bo na le matla, 'me botšo ha bo na matla.
Hlokomela:
In
the
jwale
BUNKERPRO
mofuta,
the
kantle
katoloso
segokahanyi
is
feela
bula
ho
the
kamorao
segokahanyi.
In
sena
mofuta,
the
matla
phepelo
ka khona
fana
a
boholo
jwale
of
EA-10-T
Setšoantšo sa 3.2 Setšoantšo sa Schematic sa Aviation Plug Male Connector
3.3.3
Ho elelloa
of
KA
laela
taolo
25 / 35
Qala BUNKERPRO mobile robot chassis ka tloaelo, bulela FS remote control, ebe u fetola mokhoa oa ho laola ho laola taelo, ke hore, fetola khetho ea mokhoa oa SWB oa FS remote control holimo. Ka nako ena, chassis ea BUNKERPRO e tla amohela taelo e tsoang ho CAN interface, 'me moamoheli a ka boela a sekaseka boemo ba hajoale ba chassis ka data ea nako ea nnete e fetisoang ke bese ea CAN ka nako e ts'oanang. Sheba ho protocol ea puisano ea CAN bakeng sa litaba tse itseng tsa protocol.
3.4
Firmware
ntlafatsa
E le ho nolofalletsa basebelisi ho ntlafatsa mofuta oa firmware oa BUNKER MINI 2.0 le ho tlisetsa bareki phihlelo e phethahetseng haholoanyane, BUNKER MINI 2.0 e fana ka sebopeho sa hardware bakeng sa ntlafatso ea firmware le software e lumellanang ea bareki.
Ntlafatsa
Tokisetso
Agilex CAN debugging module X 1 Micro USB cable X 1 BUNKER PRO chassis X 1 A khomphuta (WINDOWS OS (Operating System) X 1
Ntlafatsa
Tshebetso
1.Hokela mochine oa USBTOCAN khomphuteng, ebe u bula software ea AgxCandoUpgradeToolV1.3_boxed.exe (ho latellana ho ke ke ha fosahala, qala ka ho bula software ebe u kenya mochine, sesebelisoa se ke ke sa tsejoa). 2.Tobetsa konopo ea Open Serial, ebe o tobetsa konopo ea matla 'meleng oa koloi. Haeba khokahano e atlehile, tlhahisoleseling ea mofuta oa taolo e kholo e tla tsejoa, joalo ka ha ho bonts'itsoe setšoantšong.
26 / 35
3.Tobetsa Firmware ea Mojaro File konopo ho kenya firmware ho ntlafatsoa. Haeba ho romelloa ho atlehile, tlhahisoleseding ea firmware e tla fumanoa, joalokaha ho bontšitsoe setšoantšong
27 / 35
4.Tlanya node e lokelang ho ntlafatsoa ka lebokoseng la lenane la li-node, ebe o tobetsa Qala Firmware ea ho ntlafatsa ho qala ho ntlafatsa firmware. Kamora hore ntlafatso e atlehe, lebokose la pop-up le tla potlakisa.
28 / 35
3.5
BUNKERPRO
ROS
Sephutheloana
Sebelisa
Example
ROS e fana ka litšebeletso tse ling tse tloaelehileng tsa tsamaiso ea tsamaiso, tse kang ho tlosoa ha hardware, ho laola thepa ea boemo bo tlaase, ho kenya ts'ebetsong ea mesebetsi e tloaelehileng, molaetsa oa li-inter-process le tsamaiso ea pakete ea data. ROS e ipapisitse le meralo ea meralo ea graph, e le hore lits'ebetso tsa li-node tse fapaneng li ka amohela, ho lokolla, le ho bokella lintlha tse fapaneng (tse kang ho utloa, ho laola, boemo, moralo, joalo-joalo). Hajoale ROS e ts'ehetsa UBUNTU haholo.
Tsoelo-pele
tokisetso
Lisebelisoa
boitokisetso CANlight ka puisano mojule X1 Thinkpad E470 notebook X1 AGILEX BUNKERPRO mobile robot chassis X1 AGILEX BUNKERPRO tšehetsa taolo ya remoutu FS-i6s X1 AGILEX BUNKERPRO top aviation sokete X1 Sebelisa
example
tikoloho
Tlhaloso: Ubuntu 18.04 ROS Git
Lisebelisoa
kgokelo
le
tokisetso
Etella pele thapo ea CAN ea plug ea BUNKERPRO ea top aviation plug kapa tail plug, 'me u hokele CAN_H le CAN_L ho thapo ea CAN ho adaptara ea CAN_TO_USB ka ho latellana;
Bulela sesebelisoa sa "knob switch" ho chassis ea roboto ea mobile ea BUNKERPRO, 'me u hlahlobe hore na li-switches tsa ho emisa ts'ohanyetso mahlakoreng ka bobeli li lokollotsoe;
Hokela CAN_TO_USB sehokelong sa usb sa bukana. Setšoantšo sa khokahano se bontšoa ho Setšoantšo sa 3.4.
Setšoantšo sa 3.4 Setšoantšo sa Schematic sa Khokahano ea CAN CABLE
29 / 35
ROS
ho kenya
le
tikoloho
tlhophiso
Bakeng sa lintlha tsa ho kenya, ka kopo sheba ho http://wiki.ros.org/kinetic/Installation/Ubuntu
Teko
KHONANG
hardware
le
KA
puisano
Ho seta adaptara ea CAN-TO-USB Numella gs_usb kernel module
sudo modprobe gs_usb
Ho beha sekhahla sa 500k Baud le ho nolofalletsa adapter ea can-to-usb sudo ip link set can0 up type e ka bitrate 500000
Haeba ha ho phoso e etsahetseng mehatong e fetileng, u lokela ho khona ho sebelisa taelo ea ho view sesebediswa sa can hang hang
ifconfig -a
Kenya le ho sebelisa li-can-utils ho leka lisebelisoa tsa sudo apt install can-utils
Haeba can-to-usb e hoketsoe ho roboto ea SCOUT 2.0 lekhetlong lena, 'me koloi e buletsoe, sebelisa litaelo tse latelang ho beha leihlo lintlha tsa chassis ea SCOUT 2.0.
lebekere can0
30 / 35
Ka kopo, sheba: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
BUNKERPRO
ROS
PHEKO
download
le
bokella
Khoasolla sephutheloana se itšetlehileng ka ros
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Kopanya le ho bokella khoutu ea mohloli oa bunker_ros
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source.
Mohloli oa litšupiso: https://github.com/agilexrobotics/bunker_ros
Qala
the
ROS
nodes
Qala node ea motheo
roslaunch bunker_bringup bunker_robot_base.launch Qala keybhoto ya tshebetso remoutu node
roslaunch bunker_bringup bunker_teleop_keyboard.launch
31 / 35
Github ROS sephutheloana sa sephutheloana le litaelo tsa tšebeliso * _base :: Node ea mantlha bakeng sa chassis ho romela le ho amohela melaetsa ea CAN ea maemo a phahameng. E ipapisitse le mochini oa puisano oa ros, e khona ho laola motsamao oa chassis le ho bala boemo ba bethe ka sehlooho. *_msgs: Hlalosa mofuta o ikhethileng oa molaetsa oa sehlooho sa maikutlo a boemo ba chassis *_bringup: qala files bakeng sa li-node tsa chassis le li-node tsa taolo ea keyboard, le lingoloa ho thusa mojule oa usb_to_can
4
Q&A
Q BUNKERPRO e qalisoa ka tloaelo, empa ke hobane'ng ha e sa sisinyehe ha e sebelisa remote control ho
laola sehlopha sa koloi?
A Ntlha ea pele, netefatsa hore na sesebelisoa sa motlakase se hatisitsoe; 'me joale, tiisa hore na taolo
mokhoa o khethiloeng ka mokhoa oa ho khetha mokhoa o ka lehlakoreng le ka holimo le letšehali la remote control o nepahetse.
P: Taolo e hole ea BUNKERPRO e tloaelehile; boemo ba chassis le maikutlo a tlhahisoleseding ea motsamao ke ntho e tloaelehileng; empa ke hobane'ng ha mokhoa oa ho laola 'mele oa koloi o ke ke oa fetoloa,' me ke hobane'ng ha mochine oa chassis o sa arabele protocol ea foreimi ea taolo ha ho fanoa ka protocol ea foreimi ea taolo? A: Tlas'a maemo a tloaelehileng, haeba BUNKERPRO e ka laoloa ke taolo e hole, ho bolela hore taolo ea motsamao oa chassis e tloaelehile; haeba e ka amohela sebopeho sa maikutlo sa chassis, ho bolela hore sehokelo sa katoloso sa CAN se tloaelehile. Ka kopo, hlahloba hore na taelo e fetoletsoe ho can control mode.
P: Ha o buisana ka bese ea CAN, taelo ea karabo ea chassis e tloaelehile; empa ke hobane'ng ha koloi e sa arabe ha e fana ka taolo? A: BUNKERPRO e na le mokhoa oa ho sireletsa puisano ka hare. Chassis e na le mokhoa oa ts'ireletso oa nako ha e sebetsana le litaelo tsa CAN tse tsoang kantle. Ha re re ka mor'a hore koloi e fumane foreimi ea protocol ea puisano, empa ha e fumane foreimi e latelang ea taelo ea taolo bakeng sa ho feta 500MS, e tla kena ts'ireletso ea puisano, 'me lebelo la eona ke 0. Ka hona, litaelo tse tsoang k'homphieutheng e amohelehang li tlameha ho ntšoa nako le nako.
32 / 35
5
Sehlahisoa
Litekanyo
5.1
Papiso
setšoantšo
of
sehlahisoa
litekanyo
33 / 35
5.2
Papiso
setšoantšo
of
holimo
atolositsoe
tshehetso
litekanyo
34 / 35
35 / 35
Litokomane / Lisebelisoa
 |
Sehlopha sa AgileX Hunter AgileX Robotics [pdf] Bukana ea Mosebelisi Sehlopha sa Hunter AgileX Robotics, Sehlopha sa AgileX Robotics, Sehlopha sa Liroboto, Sehlopha |
