Communication protocol

$ pip3 install pyagxrobots

$ pip3 -V     		

$ python3 -m pip install --upgrade pip                 

1. Enable gs_usb kernel module

   $ sudo modprobe gs_usb

2. Bringup can device

   $ sudo ip link set can0 up type can bitrate 500000

3. If no error occured during the previous steps, you should be able to see the can device now by using command

   $ ifconfig -a

4. Install and use can-utils to test the hardware

   $ sudo apt install can-utils

5. Testing command

   # receiving data from can0
   $ candump can0
   # send data to can0
   $ cansend can0 001#1122334455667788

You can run step 1-5 or "./setup_can2usb.bash" for the first-time setup and run step 2 or"./bringup_can2usb.bash" to bring up the device each time you unplug and re-plug the adapter.

#!/usr/bin/env python3
# coding=utf-8
import pyagxrobots
robots=pyagxrobots.pysdkugv.robotstype()  #    robotstype depend on your robot

EnableCAN()
SetMotionCommand()
SetLightCommand()
GetRobotStae:
    MotionCommandMessage:
        GetLinearVelocity()
        GetAngularVelocity()
        GetLateralVelocity()
        GetSteeringAngle()
    LightCommandMessage:
        GetLightCmdCtrl()
        GetFrontMode()
        GetFrontCustom()
        GetRearMode()
        GetRearCustom()
    SystemStateMessage:
        GetVehicleState()
        GetControlMode()
        GetBatteryVoltage()
        GetErrorCode()
    RcStateMessage:
    OdometryMessage:
        GetLeftWheel()
        GetRightWheel()
    ActuatorStateMessageV2:
        rpm()
        current()
        pulse_count()
        driver_voltage()
        driver_temp()
        motor_temp()
        driver_state()

• Prototype: EnableCAN()
• Description: Enable command and control mode.

• Prototype: SetMotionCommand()
• Description:Send Version Request to robots.
• Parameters
  • linear_vel:(float)
  • angular_vel:(float)
  • lateral_velocity:(float)
  • steering_angle:(float)

• Prototype: GetLinearVelocity()
• Description:Get the linear velocity from robot
• Return:linear velocity

• Prototype: GetAngularVelocity()
• Description:Get the angular velocity from robot.
• Return:angular velocity

• Prototype: GetSteeringAngle()
• Description:Get the steering angle from robot .
• Return:steering angle

• Prototype: GetLateralVelocity()
• Description:Get the lateral velocity from robot .
• Return:lateral velocity

• Prototype: GetControlMode()
• Description:Get the control mode from robot .
• Return:control mode

• Prototype: GetLeftWheelOdeo()
• Description:get robots LeftWheelOdom .
• Return:LeftWheelOdom

• Prototype: GetRightWheelOdom()
• Description:get robots RightWheelOdom .
• Return:RightWheelOdeom

• Prototype: GetBatteryVoltage()
• Description:Get the battery voltage from robot
• Return:battery voltage

• Prototype: GetErrorCode()
• Description:Get the error code from robot
• Return:error code

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
scoutmini=pyagxrobots.pysdkugv.ScoutMiniBase()
scoutmini.EnableCAN()
num=5
while num>0:
    
    scoutmini.SetMotionCommand(linear_vel=0.1)
    print(scoutmini.GetLinearVelocity())
    time.sleep(0.3)
    num-=1

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
bunker=pyagxrobots.pysdkugv.BunkerBase()
bunker.EnableCAN()
num=5
while num>0:
    
    bunker.SetMotionCommand(linear_vel=0.1)
    print(bunker.GetLinearVelocity())
    time.sleep(0.3)
    num-=1