Closed S-Dafarra closed 8 months ago
cc @gabrielenava as there might be a similar issue on iRonCub
Hi @S-Dafarra, the BMS and the BAT boards are temporarily disconnected. We will connect them asap!
Hi @S-Dafarra, today I connected the boards!
Let us know if them works as expected!
cc @sgiraz
Thanks @AntonioConsilvio!
Now the bms
seems to work as expected. For the bat
instead, there are still some nan
, while I noticed that the voltage value was pretty low (4.4 V if I recall correctly, I only managed to do a quick test), while the current value oscillated between nan
and about -1.
Another thing I noticed is that when the battery is off (and hence the battery charge is 0), many warnings are thrown in every terminal we open in the torso about the battery being critically low. This can be pretty annoying.
cc @isorrentino
cc @gabrielenava as there might be a similar issue on iRonCub
It seems to me as well, please @gabrielenava open an issue for fixing this, thanks.
cc @MSECode
For the BAT the current should always be nan
because we are not transmitting it because on the BAT is calculated by the ADC, which gives a value that is not highly accurate, so it was decided to not send it to the EMS. Moreover, we did not want to send 0 since it could be an acceptable value.
Here the values sent by the BAT are specified: https://icub-tech-iit.github.io/documentation/battery_boards/bat_board/bat_protocol/
For the error on the YRI, if it is the one regarding that the battery charge is critically low, it is given by the api getBatteryCharge()
of the yarp interface iBattery.
I'm gonna check that anyway and see if it can be suppressed when the battery is not attached
For the error on the YRI, if it is the one regarding that the battery charge is critically low, it is given by the api getBatteryCharge() of the yarp interface iBattery. I'm gonna check that anyway and see if it can be suppressed when the battery is not attached
Thanks!
For the BAT the current should always be
nan
because we are not transmitting it because on the BAT is calculated by the ADC, which gives a value that is not highly accurate
Even if not very accurate, it would be helpful to have a coarse measurement. In this way, we may have an idea of the power consumption even when not running in battery mode.
For the error on the YRI, if it is the one regarding that the battery charge is critically low, it is given by the api getBatteryCharge() of the yarp interface iBattery. I'm gonna check that anyway and see if it can be suppressed when the battery is not attached
Thanks!
For the BAT the current should always be
nan
because we are not transmitting it because on the BAT is calculated by the ADC, which gives a value that is not highly accurateEven if not very accurate, it would be helpful to have a coarse measurement. In this way, we may have an idea of the power consumption even when not running in battery mode.
cc @maggia80
But you should have an accurate value looking at the BMS port, since the BMS gives a good value. It should always gives you values. I'm not very confident in the fact that is a good idea having a coarse measurement given by the BAT, considering it is also averaged. It can be then be misleading in my opinion. I suppose that if you need the instant current you can look at the bms data from that port, since it is now connected.
But you should have an accurate value looking at the BMS port, since the BMS gives a good value. It should always gives you values.
We don't have the BMS data if the battery is off 😉 (or completely disconnected, as in iRonCub)
Oks, I've spoken with @maggia80 and @valegagge and it's ok to send the data of the instantaneous current even if it's not highly accurate. Anyways, please add here as a list all the improvements you need and I'll schedule the work.
Anyways, please add here as a list all the improvements you need and I'll schedule the work.
I would say:
Hi @S-Dafarra,
The main problem seems to be solved after the intervention of @AntonioConsilvio in https://github.com/robotology/icub-tech-support/issues/1715#issuecomment-1900016881.
Anyways, please add here as a list all the improvements you need and I'll schedule the work.
I would say:
- allow retrieving the voltage and current values also when the BMS is off
- avoid spamming the terminals if the battery is off
Before closing this issue, I would open a separate ticket to track the development of the 2 features requested above.
cc @MSECode @AntonioConsilvio @valegagge @Nicogene
Before closing this issue, I would open a separate ticket to track the development of the 2 features requested above.
Related ticket: https://github.com/icub-tech-iit/tickets/issues/3343
Thanks @S-Dafarra,
I close this issue then!
cc @AntonioConsilvio @MSECode @valegagge @Fabrizio69 @Nicogene
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
The values read from the ports
/ergoCub/battery/bms/data:o
and/ergoCub/battery/bat/data:o
return0.0 nan 0.0 nan 0
Detailed context
Discussing with @MSECode and @AntonioConsilvio, this is due to the BMS and BAT not connected to the EMS.
Reading the value of the battery status can be very helpful, especially during long demos where the robot is completely wireless
Additional context
No response
How does it affect you?
No response