Chassis Controller
Every chassis has a chassis controller responsible for integrating various chassis modules and ensuring safety control. The chassis controller provides an external panel, as shown below.
- Main Power Switch: Controls the power of the entire chassis.
- Screen: Displays the chassis operation status and provides settings, emergency stop clearing, and other functions.
- Ethernet Interface (Eth): The main interface for the chassis, responsible for receiving user program instructions and sending the chassis operation status.
- USB Interface (USB): A multi-purpose interface, commonly used for connecting a remote control for user convenience.
- Battery Charge Port: Used for charging the battery.
- External Power Supply Interface: Supplies power to external devices, with a maximum capacity of 48V 10A.
- Wi-Fi Antenna: Connects to Wi-Fi networks.
Do not use Wi-Fi for API communication
The Wi-Fi antenna is intended for debugging purposes only. API communication via Wi-Fi is strictly prohibited due to potential random delays, which are detrimental to real-time control.
Ethernet connection must be used for real-time control.
Quick Start
This section briefly introduces the main functions of the chassis controller. Please find an open area without obstacles to avoid collisions with people or objects.
Before turning on the main power switch, ensure the emergency stop switch is not pressed. Otherwise, the chassis will not start properly.
Screen Homepage Overview
The screen homepage displays the current battery level, control mode, and chassis operation status.
The chassis can operate in the following modes:
- Parking Mode: The chassis is in a stop mode and will not move.
- Algorithm Control Mode: The chassis is controlled by an upper computer.
- Remote Control Mode: The remote control is active, and the chassis is being controlled by it.
- Free Movement Mode: The remote control is active, allowing the chassis to be easily pushed.
There is also a quick parking mode that turns the homepage red, stops the chassis, and triggers an audible alert.
For example, if the chassis is not moving as expected, check the control mode to see if the remote control is overriding it.
Remote Control
If you choose not to purchase a remote control, you can skip this step.
The remote control allows for easy movement control of the chassis without additional coding. Plug the remote control receiver into the controller panel's USB interface and turn on the remote control power switch. If connected correctly, the remote control will have a steady white light, and the receiver will also be steady. If not, you may need to pair the remote control.
Safety Tip
To prevent the robot from losing control if the remote control is dropped, you must hold both the LB and RB buttons for joystick input to be effective.
The remote control has the highest priority, overriding other control methods when active. If the remote control is on but not in use, control reverts to the upper computer.
When both the LB and RB buttons are held, the chassis enters remote control mode, ignoring upper computer commands. The chassis speed varies with joystick input.
Pressing the left joystick allows supported chassis to enter free movement mode, ignoring upper computer commands and allowing easier pushing.
In emergencies requiring a quick stop, if you cannot press the robot's emergency stop button, simultaneously press RT and LT to quickly stop the robot.
API Control Preparation
Ensure no proxy server
API communication uses the network, and a proxy server may cause communication failure. Ensure your network has no proxy server.
To check, run env | grep proxy. If any environment variable other than "no_proxy" appears, you have a proxy server. Clear the relevant environment variables or add the chassis IP address to no_proxy.
Turn on the chassis power and connect the Ethernet. Click the menu icon in the middle right of the homepage to enter the app selector.
Click the Network Info app to access the network information page.
If you choose to use DHCP, no settings are needed. For a static IP, configure it via the settings interface. Swipe inward from the left edge of the screen (like iOS's swipe-back) to return to the app selector. Then click the Settings app to enter the settings interface.
Click the Network Settings app to access the network settings interface. You will need a USB keyboard to configure the settings.
In the network settings interface, configure the chassis network settings, including Wi-Fi, internal Ethernet (end1), and external Ethernet (end0) settings. Avoid changing internal Ethernet settings unless necessary.
Here's how to change Ethernet to a static IP address 192.168.1.100. Remember, API communication via Wi-Fi is strictly prohibited. Use Ethernet for real-time control.
Error Recovery
If the chassis enters an emergency stop state due to various reasons (emergency stop switch pressed, low battery, API upper computer disconnection, etc.), it will stop moving and display an emergency stop status. You need to send a software reset (see WebSocket API) or click the Clear button on the screen. If the Clear button does not appear, the error cannot be resolved by software and will recover automatically after troubleshooting.
