Reference Document
Block Diagram
Vehicle <-> BB_Module <-> Laptop
Vehicle to BB_Module
Following are the signals from vehicle that you get it on CAN messages, use them
wisely for your application:
Vehicle Status1
CAN ID: 0x300
Vehicle to BB_Module
Frequency : Cyclic 100ms (10Hz)
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Horn Brakes Indicator Throttle Sidestand Start - -
button input Switch status Button
Input Type Data Type Description
Horn button bool 0 -> Not Pressed
1 -> Pressed
Brakes input uint8 0 -> No brakes pressed
1 -> Left Brake Pressed
2 -> Right Brake Pressed
3 -> Both Brakes Pressed
Indicator Switch uint8 0 -> No button Pressed
1 -> Left Pressed
2 -> Right Pressed
3 -> center Pressed
Throttle int8 0 -> Idle
+ve values -> Throttle forward
Sidestand status bool 0 -> Not Engaged
1 -> Engaged
Start Button bool 0 -> Not Pressed
1 -> Pressed
Vehicle Status2
CAN ID: 0x301
Vehicle to BB_Module
Frequency : Cyclic 100ms (10Hz)
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Riding Vehicle Roll Pitch Yaw
Mode Speed
Input Type Data Type Description
Riding Mode uint8 0 -> Neutral
1 -> Forward
2 -> Reverse
3 -> Hold up [Uphill]
4 -> Hold down [Downhill]
Vehicle Speed uint8 Vehicle Speed In kmph
Roll int16 (little endian) -180 to 180 degrees
Pitch int16 (little endian) -180 to 180 degrees
Yaw int16 (little endian) -180 to 180 degrees
BB_Module to Vehicle
Following are the signals from your device to set the vehicle params:
Vehicle Requests
CAN ID : 0x305
BB_Module to Vehicle
Frequency: Event message
Byte 0 Byte 1
Command Data Description
Type
0x01 0 -> Disable Set Horn
1 -> Enable
0x02 0 -> Disable Set HighBeam
1 -> Enable
0x03 0 -> Disable both lamps Set Tail/Brake Lamp
1 -> Tail Lamp
2 -> Brake Lamp
0x04 0 -> Disable both Indicators Set Indicator
1 -> Left Indicators On
2 -> Right Indicators On
3-> Left indicators Off
4 -> Right indicators Off
0x05 * 0 -> Forward Facing Position Steering adjustment
+ve -> Steer Right (forward position is 0)
-ve -> Steer Left [Range -60 to 60]
0x06 * 0 ->Clear Brake Request Manual Brake Request
1 -> Request to Brake
* These Commands are only applicable for the Phase-2 Challenge.
BB_Module to Vehicle
Motoring requests
CAN ID : 0x306
BB_Module to Vehicle
Frequency : Cyclic 100ms (10Hz)
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Riding Vehicle - - - - - -
Mode Speed
Input Type Data Type Description
Riding Mode uint8 0 -> Neutral
1 -> Forward
2 -> Reverse
3 -> Hold up [Uphill]
4-> Hold down [Downhill]
Vehicle Speed uint8 Vehicle Speed In kmph
[Range 0-5]
Note :
1. You need to throttle up to ride the vehicle
2. If CAN 0x306 is not published for more than 1 second, then Riding_mode will
be set to Neutral(0)
Available Sensors
Max
Sln Weightage Units
o Sensor Note per sensor Allowed Datasheet
1) IR sensors are
sensitive to light.
2) Tuning required to
IR sensor differentiate the path
1 module accurately 5 5 tcrt5000
Rain Drop
Sensor rain_sensor_mo
2 module NA 2 1 dule
JSN-SR04T
https://rjrorwxhjiil
ll5q.ldycdn.com/
1) Sensor requires JSN-SR04T-3.0-
Ultra Sonic sound reflecting aidnqBpoKliRljSl
3 sensor surface to work 10 4 qnqkilqj.pdf
https://compone
nts101.com/sites
/default/files/com
ponent_datashe
et/LDR%20Data
sheet.pdf
https://compone
nts101.com/resis
1) Understand the tors/ldr-datashee
4 LDR sensor ambient light 2 1 t
https://spectra-s
ymbol-landing.s3
.us-west-1.amaz
onaws.com/data
Handle Bar -sheets/SoftPot-
Position Series-Datashee
5 Sensor NA 2 1 t-v2019a.pdf
CYT2B7
6 Eval board NA NA 1
Raspberry-Pi
7 5 NA 300 1
8 Web Cam NA 1
