search

strands-project / scitos_robot

Everything related to the STRANDS robot hardware can go in here
0 stars 10 forks source link

Robot battery #25

Closed ToMadoRe closed 9 years ago

ToMadoRe commented 10 years ago

We just experienced another severe problem with our battery. While running the waypoint patroller, the battery level shown on the small display on the robot platform indicated a very low battery level (blinking symbol). However, the rostopic /battery_state still published life_percentage with 79%. The cell voltage was down to approx. 2.4V. As expected, the robot died in the middle of its patrol run.

Not sure if this is related to our problem with a fully charged robot turning off abruptly when it stays on the charging station. Metralabs offered a firmware update. Was just wondering if anyone else experienced such a big discrepancy between ROS battery_state and the battery level indicated on the platform.

ToMadoRe commented 10 years ago

Just happened again: Here the output of the /battery_state and a picture from the display on the robot platform:

---
header: 
  seq: 8656
  stamp: 
    secs: 1383734276
    nsecs: 645153870
  frame_id: ''
voltage: 22.7000007629
current: 3.27800011635
lifePercent: 72
lifeTime: -1
charging: False
powerSupplyPresent: False
cellVoltage: [2.6110000610351562, 2.8320000171661377, 2.8630001544952393, 2.6760001182556152, 2.947000026702881, 2.878000020980835, 2.9260001182556152, 2.9710001945495605]

img_1022

Also, is it normal that the cellVoltage differs that much?

cburbridge commented 9 years ago

@ToMadoRe I totally missed this, I guess it is ok now? Did the firmware update solve it?

ToMadoRe commented 9 years ago

We didn't have this problem during the deployment. So I will close it for now.