https://www.elcanoproject.org/wiki/api.php?action=feedcontributions&feedformat=atom&user=Tfolsom Elcano Project Wiki - User contributions [en] 2026-05-19T17:14:13Z User contributions MediaWiki 1.32.2 https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=514 Communication 2026-05-12T04:37:38Z <p>Tfolsom: /* DRIVE (CANID 0x340, 0x350) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x340, 0x350) ===<br /> <br /> 0x340, 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID340 gives the commanded drive speed, brake, mode and angle from DBW. Only effective in modes 1 and 2.<br /> <br /> ID350 gives the commanded drive speed, brake, mode and angle from Nav. Only effective in modes 3 and 4.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a byte giving brake command. 0 = off, 1 = hold (12V), 2 = on (24V). The solenoid needs 24V to apply the brake. Once grakes are on, it switched to 12V to hold then on.<br /> <br /> Mode is 0 for initializing<br /> <br /> 1 for manual control from the RC unit<br /> <br /> 2 for manual control by operator<br /> <br /> 3 Automatic control from the nav computer; initiated from RC<br /> <br /> 4 Automatic control from the nav computer; initiated by operator<br /> <br /> 5 E-stop from mode 3 (Commanded by nav or brake applied by RC or operator or Loss of RC )<br /> <br /> 6 E-stop from mode 4 (Commanded by nav or brake applied by RC or operator)<br /> <br /> 7 E-stop due to operator pushing e-stop button<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log.<br /> <br /> A future version will have a bit map identifying which pieces of information will be written to the file. Headers will only be written for active information.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=513 Communication 2026-05-12T04:00:23Z <p>Tfolsom: /* DRIVE (CANID 0x340, 0x350) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x340, 0x350) ===<br /> <br /> 0x340, 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID340 gives the commanded drive speed, brake, mode and angle from DBW.<br /> <br /> ID350 gives the commanded drive speed, brake, mode and angle from Nav.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a byte giving brake command. 0 = off, 1 = hold (12V), 2 = on (24V). The solenoid needs 24V to apply the brake. Once grakes are on, it switched to 12V to hold then on.<br /> <br /> Mode is 0 for initializing<br /> <br /> 1 for manual control from the RC unit<br /> <br /> 2 for manual control by operator<br /> <br /> 3 Automatic control from the nav computer; initiated from RC<br /> <br /> 4 Automatic control from the nav computer; initiated by operator<br /> <br /> 5 E-stop from mode 3 (Commanded by nav or brake applied by RC or operator or Loss of RC )<br /> <br /> 6 E-stop from mode 4 (Commanded by nav or brake applied by RC or operator)<br /> <br /> 7 E-stop due to operator pushing e-stop button<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log.<br /> <br /> A future version will have a bit map identifying which pieces of information will be written to the file. Headers will only be written for active information.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=512 Communication 2026-05-12T03:53:09Z <p>Tfolsom: /* DRIVE (CANID 0x350) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x340, 0x350) ===<br /> <br /> 0x340, 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID340 gives the commanded drive speed, brake, mode and angle from DBW.<br /> <br /> ID350 gives the commanded drive speed, brake, mode and angle from Nav.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a byte giving brake command. 0 = off, 1 = hold (12V), 2 = on (24V). The solenoid needs 24V to apply the brake. Once grakes are on, it switched to 12V to hold then on.<br /> <br /> Mode is 0 for initializing<br /> <br /> 1 for manual control from the RC unit<br /> <br /> 2 for manual control by operator<br /> <br /> 3 Automatic control from the nav computer. initiated from RC<br /> <br /> 4 Automatic control from the nav computer. initiated by operator<br /> <br /> 5 E-stop from mode 3 (Loss of RC or brake by RC or operator)<br /> <br /> 6 E-stop from mode 4 (brake applied by RC or operator)<br /> <br /> 7 E-stop due to operator pushing e-stop button<br /> <br /> 8 E-stop by nav computer from mode 3<br /> <br /> 9 E-stop by nav computer from mode 4<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log.<br /> <br /> A future version will have a bit map identifying which pieces of information will be written to the file. Headers will only be written for active information.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=511 Communication 2026-05-12T03:33:57Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x340<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Mode<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log.<br /> <br /> A future version will have a bit map identifying which pieces of information will be written to the file. Headers will only be written for active information.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=ElcanoIntro&diff=510 ElcanoIntro 2026-05-07T17:45:14Z <p>Tfolsom: /* Use of Arduino microcontrollers for Elcano */</p> <hr /> <div><br /> <br /> = Elcano Project Introduction =<br /> <br /> == Vehicles ==<br /> <br /> A self-driving vehicle does not have to be a car. It can be a bicycle or motorcycle. We work with tricycles so that we do not need to worry about balance. Other vehicles could be karts or toy cars. At University of Washington Bothell we have two Catrike recumbents and an Organic Transit ELF. In 2018, version 3 of the High Level System was built. It has the capability of outputting in [[ Communication |CAN Bus format]], which is the standard for automotive control. With a CAN Bus interface on Low Level a trike can present the same automation interface as a car.<br /> <br /> [[File:ELF.JPG|1000px]]<br /> <br /> <br /> Automation of the ELF vehicle has started with the steering system, which is described in the attached document.<br /> <br /> == Theory ==<br /> <br /> Self-driving vehicles like Elcano can increase passenger safety, reduce the energy used for urban transportation, and reduce vehicle congestion. Over 90% of traffic accidents are caused by driver error, so the safety potential of self-drive is well-understood. When self-drive almost eliminates traffic accidents, a motorcycle is almost as safe as a full-frame automobile. Vehicle weights could fall to the point that pod-cars weighing less than the riders are the preferred choice in urban environments. Since 65% of U.S. vehicle miles traveled (VMT) are urban, the ramifications are enormous. Self-driving vehicles can drive a pre-determined speed on a pre-determined route, eliminating unpredictable driver behavior that causes sudden traffic stoppage and congestion. An aerodynamic ultra-light vehicle that avoids stop-and-go traffic needs less than one-tenth the energy of an automobile; a 25 pound rechargeable battery and a small electric motor on a light vehicle achieves the speed and range required for urban transportation. Light batteries can be easily swapped when exhausted, eliminating range anxiety. A bank of batteries can be recharged when the wind blows and the sun shines. Fossil fuel demand, pollution and green house gas production could fall dramatically.<br /> <br /> For most people, transportation automation is rocket science. The Elcano Project aims to make self-drive real for students and hobbyists, and build a popular demand to adopt traffic automation. The technology is here; laws and policies to take advantage of it are not.<br /> <br /> An isolated autonomous car can improve safety, but the other benefits require choreographing road users; when done right, highway capacity goes up three times and congestion mostly disappears. If manual and automated traffic were allowed to mix, the manually driven cars would snarl up the automated lane; thus there needs to be separated lanes. A lane set apart for automated vehicles looks a lot like Personal Rapid Transit (PRT), a technology that has been around for more than 40 years. Today PRT systems are in operation; other automated road systems are only at the testing phase.<br /> <br /> When an automated vehicle is in a reserved lane, the sensors get simpler and less expensive; there is no need for lidar, radar or extensive machine vision because lane traffic is synchronized and predictable. The Elcano Project provides a blueprint for building your own inexpensive experimental automated vehicle using electronics and sensors. A tricycle with an electric motor under 750 Watt and top speed under 20 mph is legally a bicycle, and thus street-legal without license, registration or insurance.<br /> <br /> == Use of Arduino microcontrollers for Elcano ==<br /> As you might be just taking your first dive into this project, it is important to know that most of our microcontrollers are manufactured by Arduino. Arduino is one of the largest producers of such development tools and have found great success in creating cheap ways to make them available to the public. Although generally affordable, these boards are mainly intended for prototyping and have rates of failure that may be too high for a production system. It still provides a great base for developers to create new systems.<br /> For more information refer to https://www.arduino.cc/<br /> --&gt; the website also has a lot of information about their products from programming to forums so don't be afraid to look things up! Note that Arduino hardware is an open source design originally based on Atmel AVR. We have migrated the drive-by-wire board to the ARM-based Arduino Due. The High-level functions have migrated from Arduino to Jetson Nano with Pixhawk. Since our boards are also open source, you have the possibility of designing a single board that merges the Arduino and Elcano functionality.<br /> <br /> == System Architecture Overview ==<br /> Elcano converts an ordinary vehicle to self-drive by adding several classes of hardware, including:<br /> * [[ProcessorGeneral | Processors]] that use data from the sensors and data from on-board storage to control where the vehicle goes.<br /> * '''Actuators''' to control steering, braking, and vehicle speed. Actuators are often servomotors but can be other devices.<br /> * '''Sensors''' to measure vehicle speed, vehicle location, vehicle direction, obstacle distance, and other information about the vehicle and its surroundings.<br /> * '''Electrical Power''' comes from a bank of batteries, either tapped for multiple voltages or through power converters.<br /> The processors, actuators, sensors, and power subsystem are all located somewhere on the vehicle. <br /> Physical Architecture describes where each part is on the vehicle and the location of wires connecting each subsystem.<br /> <br /> NEXT &gt; [[System Architecture]]</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=509 Communication 2026-04-21T23:52:55Z <p>Tfolsom: /* Log Header (0x700) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log.<br /> <br /> A future version will have a bit map identifying which pieces of information will be written to the file. Headers will only be written for active information.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=508 Communication 2026-04-21T23:50:00Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Vehicle Ahead Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=507 Communication 2026-04-21T23:48:16Z <p>Tfolsom: /* Cone Position (0x480) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Vehicle Ahead Position (0x480)===<br /> <br /> Position of the vehicle ahead, using 6 bytes in the same format as obstacle data.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=506 Communication 2026-04-21T23:44:10Z <p>Tfolsom: /* Log Position (0x709) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Log the vehicle position received from the Nav computer as 0x4C0.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=505 Communication 2026-04-21T23:43:04Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Log Position (0x709)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=504 Communication 2026-04-21T23:41:24Z <p>Tfolsom: /* Finalize Log (0x710) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Finalize Log (0x70A)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=503 Communication 2026-04-21T23:40:47Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-70A<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Finalize Log (0x710)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=502 Communication 2026-04-21T23:39:53Z <p>Tfolsom: /* Finalize Log (0x709) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Finalize Log (0x710)===<br /> <br /> Finalize a line of the log file, including the per cent machine utilization.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=501 Communication 2026-04-21T23:38:48Z <p>Tfolsom: /* Log Steer (0x708) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Log the actual steer angle and the values from the steer sensors on the right and left steering columns.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=500 Communication 2026-04-21T23:37:48Z <p>Tfolsom: /* Log Brakes (0x707) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Log brakes on/off and voltage to brakes.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=499 Communication 2026-04-21T23:37:06Z <p>Tfolsom: /* Log Throttle (0x706) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Log the actual throttle position, speed and drive mode.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=498 Communication 2026-04-21T23:35:48Z <p>Tfolsom: /* Log Desired (0x705) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Depending on whether control comes from RC, operator or Nav computer, write the desired speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=497 Communication 2026-04-21T23:31:47Z <p>Tfolsom: /* Log Auto (0x704) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write commanded speed, steer angle, forward/reverse, auto/manual, gate disconnect and estop that DBW received from the Nav computer.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=496 Communication 2026-04-21T23:29:16Z <p>Tfolsom: /* Log Op (0x703) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write channels from the operator controls. These include voltages from the two-axis joystick, and four switches for forward/reverse, auto/manual, gate disconnect and estop. Show commanded throttle or brake and steering angle.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=495 Communication 2026-04-21T23:25:25Z <p>Tfolsom: /* Log RC (0x702) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write channels from the RC unit's channels as the pulse width in microseconds. Also write how these channels are interpreted.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=494 Communication 2026-04-21T23:22:13Z <p>Tfolsom: /* Log Time (0x701) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write the relative time in milliseconds.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=493 Communication 2026-04-21T23:21:33Z <p>Tfolsom: /* Log Header (0x700) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file<br /> <br /> The log file may be written to an SD card, to serial, or to CAN. If it is written to CAN, any node can write the log file.<br /> <br /> If CAN logging is used, 0x700 will be sent once to initialize the log. .<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=492 Communication 2026-04-21T23:18:25Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.<br /> <br /> ===Log Header (0x700)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Time (0x701)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log RC (0x702)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Op (0x703)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Auto (0x704)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Desired (0x705)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Throttle (0x706)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Brakes (0x707)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Log Steer (0x708)===<br /> <br /> Write Header lines at start of log file.<br /> <br /> ===Finalize Log (0x709)===<br /> <br /> Write Header lines at start of log file.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=491 Communication 2026-04-21T20:18:34Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x700<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Header<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x701-709<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Log Data<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=490 Communication 2026-04-21T18:16:39Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=489 Communication 2026-04-21T18:14:04Z <p>Tfolsom: /* Set Time (CANID 0x250) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 1: Hour (0-23).<br /> <br /> Byte 2: Minute (0-59).<br /> <br /> Byte 3-4: Millisecond (0-59999).<br /> <br /> Byte 5: Day (1-31). <br /> <br /> Byte 6: Month (1-12).<br /> <br /> Byte 7-8 CE Year (e.g. 2026).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=488 Communication 2026-04-21T18:12:16Z <p>Tfolsom: /* Set Origin (CANID 0x251) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 1 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 2,3,4: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 5: Longitude (0-180)<br /> <br /> First bit of byte 6: 0 for E, 1 for W<br /> <br /> Rest of byte 6 and bytes 7-8: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=487 Communication 2026-04-21T18:10:26Z <p>Tfolsom: /* Waypoint Positions (0x4C1 … 0x4DF) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C0 - 0x4DF)===<br /> <br /> 0x4C0: Position of vehicle<br /> <br /> 0x4C1-0x4DF: Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=486 Communication 2026-04-21T18:08:51Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C0-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=485 Communication 2026-04-21T18:07:48Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=484 Communication 2026-04-21T18:07:18Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x250<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hh<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| mm<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DD<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| MM<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| YY<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set time<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x251<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Set Origin<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=483 Communication 2026-04-21T17:57:38Z <p>Tfolsom: /* Set Time (CANID 0x250) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x00: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07: Year since 2000. (0-256).<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=482 Communication 2026-04-21T17:55:46Z <p>Tfolsom: /* Set Origin (CANID 0x251) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x80: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07-8: CE Year (e.g. 2026)<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> Eight bytes. This gives Latitude and Longitude of the origin. All GPS reedings are translated to cm from the origin and sent in CAN messages 0x4C0 to 0x4DF. The Set Origin command will normally be sent once at startup.<br /> <br /> Byte 0x00 first 7 bits: Latitude (0-90) 8th bit: 0 for N, 1 for S<br /> <br /> Bytes 0x01-3: Fraction of latitude (0-9,999,999)<br /> <br /> Byte 0x04: Longitude (0-180)<br /> <br /> First bit of byte 0x05: 0 for E, 1 for W<br /> <br /> Rest of byte 0x05 and bytes 0x06-7: Fraction of longitude (0-999,999)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=481 Communication 2026-04-21T17:39:23Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x80: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07-8: CE Year (e.g. 2026)<br /> <br /> ===Set Origin (CANID 0x251)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=480 Communication 2026-04-21T17:37:30Z <p>Tfolsom: /* Command 0x100 and 0x200 (status change) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver, operator or Nav computer requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available. The Nav computer uses message 0x100 to request reverse or other status changes.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x80: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07-8: CE Year (e.g. 2026)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=479 Communication 2026-04-21T17:34:59Z <p>Tfolsom: /* Command 0x100 and 0x200 (status change) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver or operator requests reverse, DBW responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x80: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07-8: CE Year (e.g. 2026)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=478 Communication 2026-04-21T17:31:32Z <p>Tfolsom: /* Set Time (CANID 0x250) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> Eight bytes. When GNNS is established, this command will be sent once. It will be used to set the real-time clock (RTC) to coordinated time. Local time will be used.<br /> <br /> Byte 0x80: Hour (0-23).<br /> <br /> Byte 0x01: Minute (0-59).<br /> <br /> Byte 0x03-4: Millisecond (0-59999).<br /> <br /> Byte 0x05: Day (1-31). <br /> <br /> Byte 0x06: Month (1-12).<br /> <br /> Byte 0x07-8: CE Year (e.g. 2026)<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=477 Communication 2026-04-21T17:19:13Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===Set Time (CANID 0x250)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=476 Communication 2026-04-21T17:14:27Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1-0x4DF<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Waypoint Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=475 Communication 2026-04-21T17:09:48Z <p>Tfolsom: /* Waypoint Reached (CANID 0x101) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint (0x4C1 - 0x4DF).<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=474 Communication 2026-04-21T17:08:12Z <p>Tfolsom: /* Goal Reached (CANID 0x101) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Waypoint Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01, 0x02: CAN ID for next waypoint .<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=473 Communication 2026-04-21T17:05:28Z <p>Tfolsom: /* Goal Positions (0x4C1 … 0x4C6) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Waypoint Positions (0x4C1 … 0x4DF)===<br /> <br /> Positions of waypoints. Input to Jetson Nano from user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=472 Communication 2026-04-21T17:01:41Z <p>Tfolsom: /* Goal Reached (CANID 0x101) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all waypoints have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=471 Communication 2026-04-21T16:13:06Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> There are several nodes. One is Drive-by-Wire (DBW aka Low Level). A second is the Navigation computer (Nav). It was originally an Arduino and called High Level or Sensor Hub. In current design it is a Jetson Nano that works with a Pixhawk to find GPS and send motion instructions to DBW. Sensors such as camera and lidar will form another node, perhaps using a second Jetson Nano. <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=470 Communication 2026-04-21T16:06:45Z <p>Tfolsom: /* Command 0x300 */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=469 Communication 2026-04-21T16:05:33Z <p>Tfolsom: /* Command 0x50, 0x100, and 0x200 (status change) */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x100 and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200.<br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===Command 0x300===<br /> <br /> gives the relative amount to go, stop or turn. For each, 12 bits will suffice, and fewer bytes than indicated could be used. These are uncalibrated relative amounts from minimum to maximum. At present, positive values are throttle and negative values are brake, and it is impossible to accelerate of brake at the same time. In the future, we may want to allow both simultaneously. At present brakes are either on or off; we may use intermediate values to pulse the brakes. A negative steering value indicates left; positive value indicates right; 0 is straight.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=468 Communication 2026-04-21T16:04:44Z <p>Tfolsom: /* Introduction */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit means a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Nav<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| DBW<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x50, 0x100, and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200. <br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===Command 0x300===<br /> <br /> gives the relative amount to go, stop or turn. For each, 12 bits will suffice, and fewer bytes than indicated could be used. These are uncalibrated relative amounts from minimum to maximum. At present, positive values are throttle and negative values are brake, and it is impossible to accelerate of brake at the same time. In the future, we may want to allow both simultaneously. At present brakes are either on or off; we may use intermediate values to pulse the brakes. A negative steering value indicates left; positive value indicates right; 0 is straight.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=467 Communication 2026-04-21T02:00:48Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit has a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x50, 0x100, and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200. <br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===Command 0x300===<br /> <br /> gives the relative amount to go, stop or turn. For each, 12 bits will suffice, and fewer bytes than indicated could be used. These are uncalibrated relative amounts from minimum to maximum. At present, positive values are throttle and negative values are brake, and it is impossible to accelerate of brake at the same time. In the future, we may want to allow both simultaneously. At present brakes are either on or off; we may use intermediate values to pulse the brakes. A negative steering value indicates left; positive value indicates right; 0 is straight.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Communication&diff=466 Communication 2026-04-21T01:56:48Z <p>Tfolsom: /* Elcano CAN Commands */</p> <hr /> <div>==Elcano CAN Commands==<br /> <br /> === Introduction ===<br /> <br /> Controller Area Network (CAN) is a standard introduced by Bosch in the 1980s. It is widely used to link automotive microprocessors and is required on all cars sold in North America and Europe. Physically there are four wires: Ground, 12V, CanHi and CanLo. A dominant bit has a significant difference between CanHi and CanLo; for a recessive bit the two lines are essentially the same. The interesting parts of a CAN packet are given in the table. The message ID is 11 bits, with low numbers getting priority. A CAN packet contains 0 to 8 bytes of data. The size of a CAN packet is larger, since CAN has significant error detection capability. CAN is a host-less network with most of the work done in hardware.<br /> <br /> <br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| CAN ID<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Origin<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 7<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Byte 8<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Function<br /> <br /> <br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop request<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x100<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x101<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal reached<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x80<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| E-stop active<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x40<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Manual/Auto<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x200<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x0X<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Forward/Reverse<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x300<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Receiver<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Throttle<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x300<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Receiver<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x300<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Receiver<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Steer<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive Speed mm/s<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Brake<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x350<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Hi-Level<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Drive angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual Speed mm/s<br /> <br /> |-<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x400<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lo-Level<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;background-color:#d0cece;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Actual angle (10 times degrees)<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x420<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Lidar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x440<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Sonar<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x460<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ss<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Obstacle Data<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x480<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| rr<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| bb<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ww<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| qq<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Cone Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A0<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Right road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4A1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Camera<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| zz<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| <br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Left road edge<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C1<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 1 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C2<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 2 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C3<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 3 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C4<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 4 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C5<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 5 Position<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 0x4C6<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| ?<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| xx<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| yy<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| Goal 6 Position<br /> <br /> |}<br /> '''&lt;nowiki&gt;** Please be aware of the initial CAN-Bus baud rate. If you use MCP2515 module for testing, the baud rate needs to be set to twice the due CAN baud rate&lt;/nowiki&gt;'''<br /> <br /> Not all commands will be implemented. All data are given in integer; floating point is not used.<br /> <br /> ===Command 0x50, 0x100, and 0x200 (status change) ===<br /> <br /> use Byte 1.<br /> <br /> If bit 0x80 is set, emergency stop is active. <br /> <br /> Bit 0x40 when set puts the trike in autonomous mode; reset puts it in manual mode.<br /> <br /> If bit 0x04 is zero, the trike is going forward. When the receiver (0x50) sets bit 0x04, it is requesting reverse. Low Level responds with a 0x200 message with bit 0x04 set meaning that reverse is active, bit 0x02 set meaning that reverse is pending or bit 0x01 set meaning that reverse is not available.<br /> <br /> The Receiver would output a 0x50 message only when the status changes. It expects to receive a 0x200 message for e-stop active shortly afterwards (maybe 100 ms), and will resend 0x50 until it receives a 0x200. <br /> <br /> ===Goal Reached (CANID 0x101)===<br /> <br /> One byte<br /> <br /> If 0x80 is set, all goals have been reached and the vehicle should stop.<br /> <br /> Bit 0x01: goal one has been reached and goal two is next.<br /> <br /> Bits 0x02, 0x04, 0x08, 0x10, 0x20: Reached goals 2, 3, 4, 5, and 6 respectively.<br /> <br /> ===Command 0x300===<br /> <br /> gives the relative amount to go, stop or turn. For each, 12 bits will suffice, and fewer bytes than indicated could be used. These are uncalibrated relative amounts from minimum to maximum. At present, positive values are throttle and negative values are brake, and it is impossible to accelerate of brake at the same time. In the future, we may want to allow both simultaneously. At present brakes are either on or off; we may use intermediate values to pulse the brakes. A negative steering value indicates left; positive value indicates right; 0 is straight.<br /> <br /> ===DRIVE (CANID 0x350) ===<br /> <br /> 0x350 ComandedSpeed, Brake, ComandedSteerAngle<br /> <br /> ID350 gives the command drive speed, brake and angle.<br /> <br /> This utilizes 6 of the 8 data bytes<br /> <br /> ComandedSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2. The value is the speed, in centimeters / second. Maximum value is 0x7FFF = 32767 cm/s = 730 mph.<br /> <br /> Brake is a 16-bit signed integer giving signal to brake. Currently brake is only on or off, but could have pulses added later to be different levels of braking.<br /> <br /> ComandedSteerAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. Negative value indicates left; positive value indicates right; 0 is straight. It occupies data bytes 5 and 6. Maximum value is 1800; Minimum value is -1800. The trikes are not capable of turning more than ±30°, but other vehicles could be holomorphic.<br /> <br /> e.g. &amp;nbsp;commanding 1.5 m/s with a 2.1° left turn gives<br /> <br /> {| style=&quot;border-spacing:0;&quot;<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 288<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 1500<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| -21<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| decimal<br /> <br /> |-<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 120<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| 05 DC<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| FF EB<br /> | style=&quot;border:0.0007in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;&quot;| hex<br /> <br /> |}<br /> <br /> ===ACTUAL (CANID 0x400) ===<br /> <br /> 0x400 ActualSpeed, ActualAngle<br /> <br /> ID400 gives the reports the actual speed and angle from the low-level board to the high-level.<br /> <br /> This utilizes 4 of the 8 data bytes<br /> <br /> ActualSpeed is a 16-bit signed integer giving the speed for the rear wheel in centimeters per second. It occupies data bytes 1 and 2, formatted identically to ComandedSpeed in DRIVE(0x350) above.<br /> <br /> ActualAngle is a16-bit signed integer that specifies the steer angle (in degrees times 10) of the vehicle. It occupies data bytes 5 and 6, formatted identically to ComandedSteerAngle in DRIVE(0x350) above.<br /> <br /> ===Obstacle Data (0x420, 0x440, 0x460)===<br /> <br /> Uses 6 or 8 bytes<br /> <br /> Bytes 1,2: Range to obstacle centroid in cm.<br /> <br /> Bytes 3,4: Bearing to obstacle centroid in degrees times 10. Negative is left; positive is right.<br /> <br /> Byte 5: Obstacle half-width in degrees times 10. If bearing is b and half-width is w, obstacle extends from b-w to b+w. For sensors with limited resolution, byte 5 gives the resolution. For example, a sonar that covers 30 degrees would set byte 5 to 150.<br /> <br /> Byte 6: Quality of the signal/data. 0 = no data; 255 = highest quality<br /> <br /> Bytes 7,8: Obstacle slant in degrees times 10 (optional). If omitted or 0, the obstacle is perpendicular to the bearing. Otherwise a negative angle indicates that the left side of the obstacle is closer, and a positive angle means the left side is farther than the centroid.<br /> <br /> ===Cone Position (0x480)===<br /> <br /> Position of the next cone, using 6 bytes in the same format as obstacle data.<br /> <br /> Byte 5 is the half-width of the cone at the base.<br /> <br /> ===Road Edge (0x4A0, 0x4A1)===<br /> <br /> Estimated distance from vehicle edge to road edge in cm based on present trajectory.<br /> <br /> Bytes 1,2: At present vehicle position<br /> <br /> Bytes 3,4: At a near future position (to be defined)<br /> <br /> Bytes 5,6: At a farther future position (to be defined)<br /> <br /> ===Goal Positions (0x4C1 … 0x4C6)===<br /> <br /> Positions of cones or other goals. Not defined how this would be input; perhaps from a user interface. They can be hard coded for now.<br /> <br /> Bytes 1-4: East position in cm<br /> <br /> Bytes 5-8 North position in cm.</div> Tfolsom https://www.elcanoproject.org/wiki/index.php?title=Mapping_System&diff=364 Mapping System 2020-08-06T19:45:02Z <p>Tfolsom: </p> <hr /> <div>The Sensor Hub has a low-definition digital map of its operating area. That map is a directed graph of intersections. The files system on the SD card is organized at the original PC MS-DOS system: file names of up to 8 characters, a dot, and an extension of up to three characters.<br /> <br /> ==Master File==<br /> The master file is named MAP_DEFS.TXT<br /> It may look like this:<br /> <br /> 47.758949, -122.190746, UWB_CAMP.TXT<br /> <br /> 47.6213 , -122.3509 , SEATTCEN.TXT<br /> <br /> 47.662 , -122.115 , MARYMOOE.TXT<br /> <br /> 47.660 , -122.185 , BRIDLETR.TXT<br /> <br /> 47.760854, -122.190033, UWB_SCCR.TXT<br /> <br /> 49, 8, CARLA.TXT<br /> <br /> The first two numbers are the latitude and longitude of the origin of the map file. The third item is the name of the file.<br /> When the robot powers up, it will acquire a GPS fix for its present position. It will find the closest latitude and longitude to its position and load that file.<br /> <br /> ==Local Maps==<br /> <br /> For instance, the first few entries of MARYMOOE.TXT are<br /> <br /> -775855, -78948, 1 , END, END, END, 1, 1, 1, 1<br /> -598367, 16679, 0 , 2 , END, END, 1, 1, 1, 1<br /> -426121, 137882, 3 , 17, 19, END, 1, 1, 1, 1<br /> -345240, 149001, 4 , 18, END, END, 1, 1, 1, 1<br /> -216431, 154561, 18, 15, 5, END, 1, 1, 1, 1<br /> -34449, 174576, 4 , 6 , 14, END, 1, 1, 1, 1<br /> 89118, 116792, 5 , 7 , 13, END, 1, 1, 1, 1<br /> 148281, 165680, 6 , 8 , 12, END, 1, 1, 1, 1<br /> <br /> [[File:Marymoor.PNG]]<br /> <br /> Each line corresponds to one of the numbered intersections (nodes) in the figure, starting at 0 and increasing by 1. The fist number is the distance north from the origin in millimeters (or distance south for a negative number). The second number is the distance east in mm if positive or distance west if negative.<br /> The third, forth, fifth and sixth numbers are the nodes connected to the present node, or &quot;END&quot; if none. An intersection of more than four ways can be handled by introducing a helper node at the same location.<br /> <br /> Distances are given in mm so that they can be stored in a 32-bit integer and will not overflow until the distance is over 2147 km. Arithmetic in integers is much faster than floating point, especially on micro-controllers that do not have hardware floating point. <br /> <br /> The last four numbers are the relative costs of the paths linking the nodes. Path planning is done with A*, which makes the assumption that the distance between nodes is Euclidean. If this is not the case, due to road curvature or speed restriction, the multiplier should be modified.<br /> <br /> The vehicle will find a path that goes from node to node until it reaches the destination that was entered. To do so, it finds the closest road (where roads are the lines connecting nodes and takes the shortest path to that road. It then follows the road network from node to node until it gets close to the destination. If the destination is not on a road, the vehicle will follow a path to the origin that is perpendicular to the nearest road.<br /> <br /> The map should be laid out to give preferred robot paths that do not contain any fixed obstacles. Nodes should be provided to approximate road curvature.<br /> <br /> ==Enhanced Mapping==<br /> This basic map structure should be augmented by a secondary file that describes the road. This supplemental file may include road curvature, number of lanes, lane width, lane markings, and speed.<br /> <br /> The SD card has a simple files system where only one file can be open at a time. After MAP_DEFS.TXT is read, that file is closed, and the file for the directed graph is read into memory and then closed. A road supplemental file could be read as needed.<br /> <br /> ==Cubic Splines==<br /> The nodes in the directed graph are of class Waypoint. A Waypoint may contain more information than just its location. In the implementation as of August 2020, Waypoints are connected by straight lines, which produces discontinuities where they join. In the original design, Waypoints were connected by cubic splines (Hermite Curves; see James Foley et al. &quot;Introduction to Computer Graphics&quot; for a good summary). Cubics are infinitely differentiable and are widely used to fit smooth curves. The main practical difference between a line segment and a cubic is that the line is specified by its two endpoints, but the Hermite curve also requires the tangents (directions) at the endpoints. The cubic connecting two intersections will be different if one is required to approach from the west or from the south; the line segment would be identical.<br /> Bezier curves are similar to Hermite curves. Both have four control points. The Bezier curve has two control points not on the curve that are used to shape it. There is a simple matrix transformation relating the Bezier and Hermite curves.<br /> <br /> ==Latitude and Longitude==<br /> Global positions on the earth are given in spherical coordinates: <br /> * Latitude - angle between the north (90) and south (-90) poles<br /> * Longitude - angle east or west of Greenwich.<br /> * Radius of the earth (meters)<br /> <br /> Since the Elcano system is designed to operate in a small area, it is not concerned about great circle routes for intercontinental distances. Instead it makes the approximation that the earth is locally flat. It sets an origin for the area in which it operates, and sets up a coordinate system (x,y) where positive x is distance east of the origin and positive y is distance north. Distances are internally stored in mm, and can be easily displayed in meters.<br /> The distance represented by one degree of longitude varies from 111 km at the equator to 0 at the poles. The size of a degree of longitude depends on the cosine of the latitude.<br /> <br /> Given a (latitude, longitude) its map position as (east_mm, north_mm) is given by<br /> <br /> north_mm = (latitude - latitude_of_map_origin) * earth_radius_mm<br /> <br /> east_mm = (longitude - longitude_of_map_origin) * cos(latitude_of_map_origin) * earth_radius_mm</div> Tfolsom