Difference between revisions of "CanServo/Protocol/UAVCAN/en"
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When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it. | When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it. | ||
Return Message is used by modifying the data part of Actuator.Status. | |||
This part does not conform to the DroneCAN standard. | |||
* [[CanServo/Protocol/DroneCAN/ReadWriteRegister/en]] - Read Write Register | |||
Latest revision as of 10:05, 17 April 2024
This is the protocol used when CanServo/MODE/CAN/en = UAVCAN.
- If CanServo/MODE/CAN/en = 2.0A, 2.0B, refer to CanServo/Protocol/Control/en.
Because the UAVCAN v0 protocol is very extensive, it only supports the following messages essential for servo control.
- Node Status
- GetNodeInfo
- Actuator.ArrayCommand
- Actuator.Status
When changing or reading the register value of the servo, it is used in a way that expands the shape of Actuator.ArrayCommand without damaging it.
Return Message is used by modifying the data part of Actuator.Status. This part does not conform to the DroneCAN standard.
- CanServo/Protocol/DroneCAN/ReadWriteRegister/en - Read Write Register