Installation

To install the package in Node-RED, run the following command:

npm install node-red-contrib-seeed-recamera

Or install directly through the Node-RED interface.

Motor Config

Input motor parameters value for reCamera Gimbal, and output control motor CAN data frame according to the protocol.

• Name: Custom naming.
• Input: Access node information.
• Output: The CAN bus protocol of the selected motor parameter such as absolute position, .

Input:

The input data type can be number string or int which stands for the motor parameters.

• For Absolute Position:
  • Yaw axis angle (left and right): 0 to 360 degrees.
  • Pitch axis angle (up and down): 0 to 180 degrees.
  • Example: parsing in 180 to Yaw Axis Absolute Position (deg) means that the yaw axis angle will move to 180 degrees.
• For Relative Offset:
  • Yaw axis angle (left and right): -360 to 360 degrees.
  • Pitch axis angle (up and down): -180 to 180 degrees.
  • Example: parsing in 5 to Yaw Axis Relative Offset (deg) means that the yaw axis angle will move 5 degrees to the right.
• For Speed Setpoint:
  • Yaw axis speed(left and right): 0 to 65535 dps/LSB.
  • Pitch axis speed(up and down): 0 to 65535 dps/LSB.
  • Example: parsing in 100 to Yaw Axis Speed Setpoint means that the yaw axis speed will be set to 10000 dps/LSB.

Note: Due to hardware limitations, please avoid setting the config for Yaw motor at 0 or 360 degrees, Pitch motor at 0 or 180 degrees for a continuous time frame, in case overloading the motors.

Output:

The output data is a CAN frame in hexadecimal format. The CAN frame is composed of ID#Payload Data.

• ID: The ID of the CAN frame is 0x141 for Yaw axis and 0x142 for Pitch axis.
• Payload Data: The payload data is composed of 8 bytes, each byte is a hexadecimal value.

For absolute position and speed, A6 command is used: Output is ${motorId}#A6.${direction}.${speedHex}.${angleHex}

With A6 command, The host sends this command to control the position (single - turn angle) of the motor. The control value spinDirection sets the rotation direction of the motor. It is of uint8_t type. 0x00 represents clockwise rotation, and 0x01 represents counterclockwise rotation. angleControl is of uint32_t type. The corresponding actual position is 0.01 degree/LSB, that is, 36000 represents 360°. The speed control value maxSpeed limits the maximum rotation speed of the motor. It is of uint16_t type. The corresponding actual rotation speed is 1dps/LSB, that is, 360 represents 360dps.

Data Field	Description	Data
DATA[0]	Command Byte	0xA6
DATA[1]	Rotation Direction Byte	DATA[1] = spinDirection
DATA[2]	Speed Limit Byte 1 (bit0 : bit7)	DATA[2] = *(uint8_t *)(&maxSpeed)
DATA[3]	Speed Limit Byte 2 (bit8 : bit15)	DATA[3] = *((uint8_t *)(&maxSpeed)+1)
DATA[4]	Position Control Byte 1 (bit0 : bit7)	DATA[4] = *(uint8_t *)(&angleControl)
DATA[5]	Position Control Byte 2 (bit8 : bit15)	DATA[5] = *((uint8_t *)(&angleControl)+1)
DATA[6]	Position Control Byte 3 (bit16 : bit23)	DATA[6] = *((uint8_t *)(&angleControl)+2)
DATA[7]	Position Control Byte 4 (bit24: bit31)	DATA[7] = *((uint8_t *)(&angleControl)+3)

For relative offset and speed, A8 command is used: Output is ${motorId}#A8.00.${speedHex}.${offsetHex}

With A8 command, the host sends this command to control the position increment of the motor.

The control value angleIncrement is of int32_t type. The corresponding actual position is 0.01 degree/LSB, that is, 36000 represents 360°. The rotation direction of the motor is determined by the sign of this parameter. The control value maxSpeed limits the maximum rotation speed of the motor. It is of uint32_t type. The corresponding actual rotation speed is 1dps/LSB, that is, 360 represents 360dps.

Data Field	Description	Data
DATA[0]	Command Byte	0xA8
DATA[1]	NULL	0x00
DATA[2]	Low Byte of Speed Limit	DATA[2] = *(uint8_t *)(&maxSpeed)
DATA[3]	High Byte of Speed Limit	DATA[3] = *((uint8_t *)(&maxSpeed)+1)
DATA[4]	Low Byte of Position Control	DATA[4] = *(uint8_t *)(&angleIncrement)
DATA[5]	Position Control	DATA[5] = *((uint8_t *)(&angleIncrement)+1)
DATA[6]	Position Control	DATA[6] = *((uint8_t *)(&angleIncrement)+2)
DATA[7]	High Byte of Position Control	DATA[7] = *((uint8_t *)(&angleIncrement)+3)

If no speed value is passed in, the default speed value is 300.

For example:

• Yaw axis angle (Left and right): 180
• Yaw axis speed(Left and right): 300

output : 141#A4.00.2C.01.10.27.00.00

• Pitch axis angle (Left and right): 180
• Pitch axis speed(Left and right): 300

output : 142#A4.00.2C.01.10.27.00.00

Light

This is the Light node for the build-in fill light on reCamera.

Input

Parse in ' msg.payload = on ' to start light, and ' msg.payload = off ' to stop light.

Output

No output.

License

This project is licensed under the Apache License 2.0.