Publish battery voltage messages #29
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src/motor_hardware.cc
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| bstate.charge = std::numeric_limits<float>::quiet_NaN(); | ||
| bstate.capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| bstate.design_capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| bstate.percentage = std::numeric_limits<float>::quiet_NaN(); |
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Can we put in a dumb percentage that goes between 0-100% between 22-28 volts ?
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@rohbotics, how is this? |
src/motor_hardware.cc
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| bstate.capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| bstate.design_capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| if (bstate.voltage < 22.0) { // 18V = 0%, 22V = 12% | ||
| bstate.percentage = std::max(0.0, 2.0 * (bstate.voltage - 18.0)); |
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bstate.percentage should be between 0 and 1. 0.02 * (bstate.voltage - 18.0) should make it work
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Also I think our lower voltage (0% level) should be 20V. at 18 you are at 9V per battery which is pretty low.
src/motor_hardware.cc
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| bstate.percentage = std::max(0.0, 2.0 * (bstate.voltage - 18.0)); | ||
| } | ||
| else { // 22V = 12%, 24V = 42%, 26V = 72%. 27V = 87% | ||
| bstate.percentage = std::min(100.0, 12.0 + (bstate.voltage - 22.0) * 15.0); |
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Same issue, should be something like std::min(1.0, 0.12 + (bstate.voltage - 22.0) * 0.15);
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@rohbotics, good point. I made it a simple linear function with 20V -> 0 and 28V -> 1 |
src/motor_hardware.cc
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| bstate.capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| bstate.design_capacity = std::numeric_limits<float>::quiet_NaN(); | ||
| if (bstate.voltage < 20.0) | ||
| bstate.percentage = 0.0; |
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Why use an if, when you could just use std::max(0.0, bstate.percentage), it would be cleaner I think.
Closes #12