Motion: Wheeled Platform #
Zakhar moving platform equipped with an LED indication and an MPU module (GY-91).
The unit consists of:
- ESP32 DevKit V1 - 36 pins
- GY-91 - MPU module
- HW-021 TJA1050 - CAN-bus driver
- Red-Green LED module
Schematic #
Communication #
Bluetooth Serial
- Device Name: Zakhar: Wheels
- PIN: 1234
CAN bus
- Protocol: qCAN 0.2.0, standard CAN frame
- Address: 0x2
Serial
- Speed: 115200 BPS
Commands #
Each command should consists of a single byte (DATA0 of the CAN frame) and an optional argument (DATA1).
| Action | Command Code | Argument 0 |
|---|---|---|
| [CAN DATA0] | [CAN DATA1] | |
| FORWARD | 0x77 | |
| BACKWARD | 0x73 | |
| LEFT | 0x61 | Angle: 0x0..FF |
| RIGHT | 0x64 | Angle: 0x0..FF |
| SHIVER | 0x71 | |
| STOP | 0x20, 0xA0 | |
| SPEED0 | 0x30 | |
| SPEED1 | 0x31 | |
| SPEED2 | 0x32 | |
| SPEED3 | 0x33 | |
| MPU_CALIBRATE | 0x63 | |
| SET_ARG_TO_30 | 0x23 | |
| TEST | 0x74 |
Commands can be sent through the Serial interface using keyboard keys
| Action | Keyboard Key |
|---|---|
| FORWARD | w |
| BACKWARD | s |
| LEFT | a |
| RIGHT | d |
| SHIVER | q |
| STOP | Space |
| SPEED0 | 0 |
| SPEED1 | 1 |
| SPEED2 | 2 |
| SPEED3 | 3 |
| MPU_CALIBRATE | c |
| SET_ARG_TO_30 | # |
| TEST | t |