AgileX RANGER MINI User Manual
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AgileX RANGER MINI User Manual

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RANGER MINI
AgileX Robotics Team
User Manual
2020.03
V.1.0.0

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Summary of Contents for AgileX RANGER MINI

  • Page 1 RANGER MINI AgileX Robotics Team User Manual 2020.03 V.1.0.0...
  • Page 2 Safety information included in this manual, any individual or organization must read and understand these information. Please contact us at support@agilex.ai for any questions. It is important to follow and implement all assembly instructions and guidelines in this manual, especially pay...
  • Page 3 RANGER MINI integrators and end customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot application.
  • Page 4 5.Maintenance If the tires are seriously worn, please replace in time. The battery should be charged regularly in 2 to 3 months when not used for a long time.

  • Page 5: Table Of Contents

    1.2 Tech specifications................1 1.3 Required for development..............2 2 The Basics..................3 2.1 Status Indication................3 2.2 Description of electrical interface.............4 2.3 Instruction on remote control............4 3 Getting Started................5 3.1 Use and operation................5 3.2 CAN Message Protocol..............6 3.3 Firmware upgrades................6 3.5 RANGER MINI ROS Package............12...

  • Page 6: Ranger Mini Introduction

    Compared with the front wheel Ackerman model chassis, RANGER MINI not only reduces the turning radius, but also can zero turning. RANGER MINI combines the advantages of differential chassis and Ackerman chassis, it suitable for a variety of complex terrains.

  • Page 7: Required For Development

    Communication interface 1.3 Required for development FS RC transmitter is provided (optional) in the factory setting of RANGER MINI, which allows users to control the chassis and complete mode switching, movement and steering control operations. CAN and RS232 interfaces on...

  • Page 8: The Basics

    A standard extension aluminium bracket is installed on the top of the RANGER MINI, which is convenient for user to equip with external equipment for extended use.

  • Page 9: Status Indication

    Status Indication Users can identify the status of vehicle body through the voltmeter, the beeper and CAN message on RANGER MINI. For details, please refer to Table 2.1. Status Description Voltage The current battery voltage can be read from the voltmeter on the rear electrical panel.

  • Page 10: Instruction On Remote Control

    There is a aviation extended interface equip at the rear of the RANGER MINI, the aviation extended interface equip with a set of batteries and CAN communication interface. It is convenient for users to provide power for the extended equipment and communication.(The load current can’t exceed 15A, and the voltage range is...
  • Page 11 figure to set the chassis to the...

  • Page 12: Getting Started

    POWER is the power button, press and hold at the same time to turn on. The basic operation process of remote control: After turning on the RANGER MINI, start the transmitter and set the SWB to the remote control mode to control the movement of the chassis though the transmitter.

  • Page 13: Can Message Protocol

    CAN cable connection RANGER MINI deliver with a aviation male plug, the definitions of wire ⚫ please refer to the figure below. Red: VCC (positive pole) Black: GND (negative pole) Blue: CAN_L Yellow: CAN_H Implementation of CAN command control Turn on the RANGER MINI normally, open the remote control, and ⚫...
  • Page 14 Command System Status Feedback Command Name Sending node Receiving node Receive- Cycle(ms） timeout(ms) Steer-by-wire Decision-making 0x211 20ms None chassis control unit Data length 0x08 Location Function Data type Description byte [0] Current status of unsigned int8 0x00 Normal condition vehicle 0x02 System Error 0x00 Stand by byte [1]...
  • Page 15 bit [7] Reserve, default value 0 bit [0] Driver state failure (0: Normal 1: Failure) bit [1] Upper communication connect state (0: Normal 1: Failure) bit [2] Motor 5 driver communication failure (0: Normal 1: Failure) bit [3] Motor 6 driver communication failure (0: Normal 1: Failure) byte [6] bit [4]...
  • Page 16 byte [2] Reserve 0x00 byte [3] Reserve 0x00 byte [4] Reserve 0x00 byte [5] Reserve 0x00 byte [6] Steering angle 8 bits signed int16 upper Actual angle X 100 (Unit 0.01°) byte [7] Steering angle lower 8 bits The motion control frame includes linear speed control command and steering angle control command .
  • Page 17 8 bits As shown in Figure 3.2.1, when the RANGER MINI is in the front and rear Ackerman mode, the feedback steering angle is (A1+A2)/2, and the negative value is the left direction, the positive value is right direction. The feedback speed is the average speed of the four wheels ( is the linear speed of chassis motion), the negative value is reversing, positive value is go forward.
  • Page 18 As shown in Figure 3.2.2, when the RANGER MINI is in the diagonal moving mode, the feedback steering angle is (α1+α2+α3+α4)/4, the negative value is left direction, the positive value is right direction. The feedback linear speed is the average speed of the four wheels, the negative value is reversing, positive value is go forward.
  • Page 19 Data 0x01 length Position Function Data type Description 0x00 Standby mode byte [0] Control unsigned 0x01 CAN command mode mode int8 Enters standby mode by default when powering up Control mode description: When the chassis is powered on and the remote control is disconnected, the control mode is standby mode by default.
  • Page 20 1. The chassis moves forward at 0.15m/s. byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] 0x01 0x96 0x00 0x00 0x00 0x00 0x00 0x00 2.The chassis steering angle is 10°. byte [0] byte [1] byte [2] byte [3] byte [4]...
  • Page 21 byte[2] Motor current 8bits upper signed Motor current byte[3] Motor current int16 Unit 0.1A lower 8bits byte[4] Position highest bit byte[5] Position second highest signed Motor current position byte[6] Position int32 Unit:Pulse second lowest byte[7] Position lowest The feedback of motor temperature voltage and status. Command Motor Driver Low Speed Information Feedback Frame Name...
  • Page 22 byte [4] Motor signed int8 Unit: 1℃ temperature byte [5] Driver status unsigned int8 Refer to Table 2 byte [6] Reserved 0x00 byte [7] Reserved 0x00 Table 2 Driver Status Byte Description bit [0] Whether the power voltage is too low. (0: Normal 1: Low) bit [1] Whether the motor is over-temperature.
  • Page 23 byte [2] No. 6 steering angle upper bits signed int16 Current angle Unit 0.01° byte [3] No. 6 steering angle lower 8 bits byte [4] No. 7 steering angle upper bits Current angle signed int16 Unit 0.01° byte [5] No. 7 steering angle lower 8 bits byte [6]...
  • Page 24 byte [2] No. 2 wheel speed upper bits signed int16 Current speed Unit mm/s byte [3] No. 2 wheel speed lower 8 bits byte [4] No. 3 wheel speed upper bits Current speed signed int16 Unit mm/s byte [5] No. 3 wheel speed lower 8 bits byte [6]...
  • Page 25 The motion model switching command is use to switch chassis motion model. The specific protocol content is as follow. Command Motion Model Switching Command Name Sending node Receiving node Receive-timeout(ms) Cycle(ms） Decision-making Chassis node 0x141 None None control unit Data length 0x01 Position Function...
  • Page 26 byte [6] Battery temperature 8 bits upper signed int16 Unit:0.1°C byte [7] Battery temperature lower 8 bits Command BMS Data Feedback Name Sending node Receiving node Receive- Cycle（ms） timeout(ms) Decision-making Steer-by-wire control unit chassis 0x362 500ms None Data length 0x04 Position Function Data type...
  • Page 27 BIT1: Over-voltage BIT2: Under voltage byte [2] Warning Status 1 unsigned int8 BIT3: Over-temperature BIT4: Low temperature BIT7: Over discharge current byte [3] Warning Status 2 unsigned int8 BIT0: Charging over current Command Steering Zero Point Setting Command Name Sending node Receiving node Receive- Cycle（ms）...
  • Page 28 byte [4] No.7 wheel zero point 8 bits upper signed int16 Zero point offset value setting byte [5] No.7 wheel Pulse; reference value -970 zero point lower 8 bits byte [6] No.8 wheel zero point 8 bits upper signed int16 Zero point offset value setting byte [7] No.8 wheel...

  • Page 29: Firmware Upgrades

    · AgileX CAN testing model×1 · micro USB cable×1 · Four-wheel chassis×1 independent steering · Computer (WINDOWS Operating System)×1 Upgrade process · Before connection, ensure the robot chassis is powered off; · Connect the AgileX CAN testing model to the chassis aviation plugs;...
  • Page 30 · Select the port number; · Power on RANGER MINI chassis, and immediately click to start connection (RANGER MINI chassis will wait for 3s before power-on; if the waiting time is more than 3s, the application will be disconnect); if the connection succeeds, "connected successfully"...

  • Page 31: Ranger Mini Ros Package

    ROS Kinetic (Subsequent versions are also tested) ⚫ Hardware connection and preparation ⚫ Lead out the CAN wire of the RANGER MINI tail aviation plug, and connect CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively; ⚫...
  • Page 32 Install and use can-utils to test hardware $ sudo apt install can-utils ⚫ If the can-to-usb has been connected to the RANGER MINI robot this time, and the car has been turned on, use the following commands to monitor the data from the RANGER MINI chassis...

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