Class Battery

Defined in File battery.hpp

Inheritance Relationships

Derived Types

public husarion_ugv_battery::ADCBattery (Class ADCBattery)
public husarion_ugv_battery::RoboteqBattery (Class RoboteqBattery)

Class Documentation

class Battery

Subclassed by husarion_ugv_battery::ADCBattery, husarion_ugv_battery::RoboteqBattery

Public Functions

inline Battery()

inline ~Battery()

virtual bool Present() = 0

virtual void Update(const rclcpp::Time &header_stamp, const bool charger_connected) = 0

virtual void Reset(const rclcpp::Time &header_stamp) = 0

virtual float GetLoadCurrent() = 0

inline bool HasErrorMsg() const

inline std::string GetErrorMsg() const

inline BatteryStateMsg GetBatteryMsg() const

inline BatteryStateMsg GetBatteryMsgRaw() const

inline ChargingStatusMsg GetChargingStatus() const

Protected Functions

inline void SetErrorMsg(const std::string &error_msg)

inline float GetBatteryPercent(const float voltage) const

inline void ResetBatteryMsgs(const rclcpp::Time &header_stamp)

inline void ResetBatteryState(const rclcpp::Time &header_stamp)

inline void ResetChargingStatus(const rclcpp::Time &header_stamp)

Protected Attributes

std::string error_msg_

BatteryStateMsg battery_state_

BatteryStateMsg battery_state_raw_

ChargingStatusMsg charging_status_

Protected Static Attributes

static constexpr int kNumberOfCells = 10

static constexpr int kBatPresentMeanLen = 10

static constexpr float kChargingCurrentTresh = 0.1

static constexpr float kBatDetectTresh = 3.03

static constexpr float kVBatFatalMin = 27.0

static constexpr float kVBatFatalMax = 43.0

static constexpr float kLowBatTemp = -10.0

static constexpr float kOverheatBatTemp = 45.0

static constexpr float kDesignedCapacity = 20.0

static constexpr std::string_view kLocation = "user_compartment"

static constexpr float battery_approx_ranges[5] = {41.25, 37.0, 36.0, 35.0, 33.7}

static constexpr float battery_approx_a_values[6] = {8.665, 9.153, 19.8, 22.84, 10.538, 0.989}

static constexpr float battery_approx_b_values[6] = {-258.73, -278.861, -672.6, -782.04, -351.47, -29.669}