BaseLedCommand Packet (Single-Direction, ROS driver → Firmware)¶
This command is used to set the state of the Base LED (located on the bottom of the robot).
It must be sent from the ROS driver, and the firmware does not generate a response for this command.
Parameters¶
This section provides the parameter definitions for the BaseLedCommand.
COMMAND_TYPE¶
The COMMAND_TYPEis 32-bit signed integer value.
| Value (Hex) | Name | Description |
|---|---|---|
| 0x00000000 | INVALID | Reserved. Do not use this value. |
| 0x00000001 | SOLID | Displays a solid single-color illumination. |
| 0x00000002 | BLINK | Displays a smooth dimming single-color animation |
| 0x00000003 | ROTATE | Displays a rotating single-color animation |
| 0x00000004 | RAINBOW | Displays a rainbow multi-color streaming animation |
SPEED_LEVEL¶
The SPEED_LEVELis 32-bit signed integer value.
| Value (Hex) | Name | Description |
|---|---|---|
| 0x00000000 | NONE | Shall be used only when COMMAND_TYPE is set to SOLID. |
| 0x00000001 | SLOW | Specifies that the animation is displayed at a slow speed (≈ 30 fps). |
| 0x00000002 | MEDIUM | Specifies that the animation is displayed at a medium speed (≈ 60 fps). |
| 0x00000003 | FAST | Specifies that the animation is displayed at a fast speed (≈ 90 fps). |
Field Layout¶
| Byte Offset | Field Name | Type | Size (Bytes) | Description |
|---|---|---|---|---|
| 0 - 3 | Header | Non-Timestamp Header | 4 | Please refer to Non-Timestamp Header |
| 4 - 7 | Color | 32-bit unsigned integer | 4 | Color code (WRGB). - Bits 31–24: White - Bits 23–16: Red - Bits 15–8: Green - Bits 7–0: Blue This field shall be ignored when COMMAND_TYPE is set to RAINBOW. |
| 8 - 11 | Reserved1 | 32-bit unsigned integer | 4 | Reserved. Set to 0. |
| 12 - 15 | Speed | SPEED_LEVEL | 4 | Refer to SPEED_LEVEL |
| 16 | Reserved2 | unsigned char | 1 | Reserved. Set to 0. |
| 17 - 20 | Command | COMMAND_TYPE | 4 | Refer to COMMAND_TYPE |