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iCubGenova09 (iRonCub3) S/N:000 – Unable to read the data coming from the BMS/BAT #1727

Closed gabrielenava closed 2 weeks ago

gabrielenava commented 5 months ago

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

See a similar issue on Ergocub https://github.com/robotology/icub-tech-support/issues/1715

Detailed context

Following this comment in a similar issue for Ergocub (https://github.com/robotology/icub-tech-support/issues/1715):

It seems to me as well, please @gabrielenava open an issue for fixing this, thanks.

the same problem is occurring on iRonCub3, so if the problem is fixed for Ergocub we might replicate the solution to iRonCub

cc @S-Dafarra @DanielePucci

Additional context

No response

How does it affect you?

No response

sgiraz commented 5 months ago

cc @MSECode

MSECode commented 5 months ago

Oks, need to check the cabling of the CAN connection between EMS02 and BMS (if BMS is present, I think so) and EMS01 and BAT and then check again. Some data on the BAT are shown always as none, such as the current, since we are not currently sending it since it is not accurate. There'll be soon an update where we are going to send it anyways.

gabrielenava commented 5 months ago

FYI, the robot is in the robot kitchen close to the AMI area in these days, not on the roof

AntonioConsilvio commented 2 months ago

Hi @gabrielenava, I added the cable that connect the BAT board to the ESM EB1. To read the value from the BAT you should have the following files in yout robots-configuration folder:

Then you should be able to read the values from BAT!

Please send us a feedback!

gabrielenava commented 2 months ago

Thanks @AntonioConsilvio! we'll test it in the next experimental campaign!

gabrielenava commented 2 weeks ago

cc @davidegorbani

gabrielenava commented 2 weeks ago

sorry for the delay @AntonioConsilvio, we finally tested what you suggested in https://github.com/robotology/icub-tech-support/issues/1727#issuecomment-2075204918

we got this output from the port:

Screenshot from 2024-06-18 17-21-02

if you think it is ok despite the NaN, we can close the issue!

MSECode commented 2 weeks ago

@gabrielenava that is correct. Since you are reading data from the BAT, 4th value is always NaN that is the battery pack temperature and it is not available for BAT. And the 3rd value is available only if the BMS is connected because is the battery pack state of charge. So that is fine and I think you can close the issue.

Check the details here: https://icub-tech-iit.github.io/documentation/battery_boards/bat_board/bat_board/#data-displayed-on-the-yarp-port

AntonioConsilvio commented 2 weeks ago

Good job @gabrielenava and thanks for the explanation @MSECode, as everything is as expected I will continue by closing the issue!

I would like to remind that the battery (and therefore the BMS) is currently not present on iRonCub3, so the BAT behaviour makes perfect sense. Closing!