CanServo/Protocol/UAVCAN/en
Revision as of 19:11, 23 September 2021 by Choiyh (talk | contribs) (Created page with "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 v...")
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 UAVCAN standard.