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How can a host PC know if the RMP motors are not powered?

Posted: Fri Jul 09, 2010 4:13 pm
by Segway
When the CUs shutdown as a result of a fault and/or estop request, there should be no traffic on the CAN bus with the exception of the ESTOP message from the deuce to the CUs (message id 0x412).

Over USB, a heartbeat message will continue from the deuce board which will indicate that no data has been received over the CAN_A or CAN_B channels. No additional data should be transmitted over USB.