5.1 Control Table

The control table consists of data representing the current state of the device as well as numerous data items required for drive and control operations. Each individual data entry in the control table is called a control item, and each item has properties such as a unique Name, size, and access permission.

Users can read specific items from the control table using the Dynamixel Protocol 2.0 to check the device status, and control the device by modifying their values.

Internally, AntBot manages the control table as an XML file.

Control Item Properties

Size (Length)

Data sizes are fixed at 1 to 4 bytes depending on the purpose. Please check the control table for the size of each data item.

Consecutive data of 2 bytes or more is recorded according to the Little Endian convention.
Access Permission (RW)

Control table data has 2 types of access properties. RW allows both read and write access. On the other hand, R has a Read Only property.

Data with the read-only property will not change even if a value is written to that address.
Default Value (Init)

The default values shown in the control table are the values set when power is applied to the device.

Values are not preserved when power is turned off.
Enumerated Data (Label)

Some control items have enumerated labels, where integer values are mapped to labels in order. The first label is 0, the second is 1, the third is 2, and so on.

For example, if Motor_State has labels IDLE:READY_ENTER:READY:..., then value 0 = IDLE, value 1 = READY_ENTER, value 2 = READY.

Control Table Types

RCU (Robot Control Unit)

The control table can be found in control_table.xml.

Serial Port: /dev/ttyUSB0
Communication Protocol: Dynamixel Protocol 2.0
Baud Rate: 4,000,000 bps
Scale: Physical unit conversion factor per 1 LSB of raw value (physical_value = raw_value x scale)

System

Name	Unit	Access	Description
RTC_Set_Date	YYMMDD	RW	Date setting for host time synchronization (e.g., 260225 → 2026-02-25)
RTC_Set_Time	HHmmss	RW	Time setting for host time synchronization (e.g., 143005 → 14:30:05)

Motor

Name	Unit (Scale)	Access	Description
Motor_State	-	R	Motor state (Motor can be driven when in `READY` state)
Motor_Reboot_Check	-	RW	Motor reboot confirmation (When flag is raised, wheel motor Present_Position value resets to 0)
Motor_Goal_Acceleration	rev/min² (x53.644)	RW	Wheel motor target acceleration
M1~M4_Goal_RPM	rev/min (x0.01)	RW	Wheel motor target velocity
M1~M4_Present_RPM	rev/min (x0.01)	R	Wheel motor current velocity
M1~M4_Present_Position	pulse	R	Wheel motor current position (encoder)
M1~M4_Present_Current	mA	R	Wheel motor current
M1~M4_Motor_Temperature	°C	R	Wheel motor temperature
S1~S4_Goal_Position	pulse	RW	Steering motor target position
S1~S4_Present_Position	pulse	R	Steering motor current position
S1~S4_Profile_Acceleration	rev/min² (x214.577)	RW	Steering acceleration profile
S1~S4_Profile_Velocity	rev/min (x0.229)	RW	Steering velocity profile
S1~S4_Present_Current	mA	R	Steering motor current

Battery

Name	Unit (Scale)	Access	Description
Battery_Current	mA (x10)	R	Battery current
Battery_Voltage	V (x0.01)	R	Battery voltage
Battery_Capacity	Ah (x0.01)	R	Battery capacity
Battery_Percentage	%	R	Battery remaining charge (SOC)
BMS_Temperature	°C	R	BMS temperature
Battery_Is_Charging	-	R	Charging state (Discharging, Charging)

Emergency Stop

Name	Unit	Access	Description
Estop_State	-	R	Emergency stop state

Cargo

Name	Unit	Access	Description
Cargo_Command	-	RW	Cargo command
Cargo_Door_State	-	R	Door state
Cargo_Lock_State	-	R	Lock state

Headlight

Name	Unit	Access	Description
Headlight_State	-	RW	Headlight control

Wiper

Name	Unit (Scale)	Access	Description
Wiper_Mode	-	RW	Wiper mode
Wiper_INT_Time	sec (x0.1)	RW	Wiper interval
Wiper_Hw_error_1~3	-	R	Wiper error codes

Ultrasonic Sensor

Name	Unit	Access	Description
UltraSonic_1~2	cm	R	Ultrasonic sensor values

Relay

Name	Unit (Scale)	Access	Description
Relay_Control	bitmask	RW	Relay control
Relay_Timeout	sec (x0.1)	RW	Relay auto timeout

IMU

IMU data is read through an independent communication channel separate from the RCU. The control table can be found in control_table.xml.

Serial Port: /dev/ttyUSB1
Communication Protocol: Dynamixel Protocol 2.0
Baud Rate: 4,000,000 bps
Scale: Physical unit conversion factor per 1 LSB of raw value (physical_value = raw_value x scale)

Name	Unit (Scale)	Access	Description
IMU_Acc_X/Y/Z	g (x0.0000610)	R	3-axis acceleration
IMU_Gyro_X/Y/Z	dps (x16.4)	R	3-axis angular velocity