0x0500 - SetAckermannConfiguration
Description
Sets Ackermann driver parameters
Structure
SetAckermannConfigurationAckermannData
AckermannData
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | PresenceVector | uint8 | |||
| 2 | SteeringAngle | uint16 | radian | false | The desired effective steering angle of the vehicle, as measured by a virtual wheel at the center of the front axle. Negative values cause the platform to turn left; positive values cause the vehice to turn right. Control systems that attach directly to the steering wheel/column may need to convert this value to a steering wheel position that achieves the desired steering angle. |
| 3 | ThrottleEffort | uint16 | one | false | As a percent of maximum. |
| 4 | BrakeEffort | uint16 | one | false | As a percent of maximum. |
| 5 | MaxSteeringRate | uint16 | radian per second | true | The absolute value of the maximum rate of change in the steering angle. Lower values result in more gradual steering changes. |
| 6 | MaxSteeringTorque | uint16 | newton meter | true | The absolute value of the maximum torque allowed to effect a change in steering angle, as experienced at the steering wheel. Lower values allow a human operator to override remote commands |