rb::Battery Class Reference

Contains the battery state and can control the robot's power. More...

#include <RBControl_battery.hpp>

Public Member Functions
void	setFineTuneCoef (float coef)
	Tunes battery measurement to compensate e.g. for voltage divider error. Default 1, expected to be 0.5 to 1.5. More...
float	fineTuneCoef () const
uint32_t	raw () const
	returns the raw value More...
uint32_t	pct () const
	returns current battery percentage More...
uint32_t	voltageMv () const
	returns current battery voltage More...
void	shutdown ()
	shuts the robot down More...

Static Public Attributes
static constexpr uint32_t	VOLTAGE_MIN = 3300 * 2
	Minimal battery voltage, in mV, at which the robot shuts down. More...
static constexpr uint32_t	VOLTAGE_MAX = 4200 * 2
	Maximal battery voltage, in mV. More...
static constexpr uint32_t	VOLTAGE_WARNING = 3500 * 2
	The voltage at which alert triggers. More...
static constexpr float	BATT_DIVIDER = 10.0f / (82.0f + 10.0f)
	Voltage divider ratio. More...

Friends
class	Manager

Detailed Description

Contains the battery state and can control the robot's power.

Member Function Documentation

fineTuneCoef()

float rb::Battery::fineTuneCoef

(

)

const

pct()

uint32_t rb::Battery::pct

(

)

const

returns current battery percentage

raw()

uint32_t rb::Battery::raw

(

)

const

returns the raw value

setFineTuneCoef()

void rb::Battery::setFineTuneCoef

(

float

coef

)

Tunes battery measurement to compensate e.g. for voltage divider error. Default 1, expected to be 0.5 to 1.5.

shutdown()

void rb::Battery::shutdown

(

)

shuts the robot down

voltageMv()

uint32_t rb::Battery::voltageMv

(

)

const

returns current battery voltage

Friends And Related Function Documentation

Manager

friend class Manager

friend

Member Data Documentation

BATT_DIVIDER

constexpr float rb::Battery::BATT_DIVIDER = 10.0f / (82.0f + 10.0f)

staticconstexpr

Voltage divider ratio.

VOLTAGE_MAX

constexpr uint32_t rb::Battery::VOLTAGE_MAX = 4200 * 2

staticconstexpr

Maximal battery voltage, in mV.

VOLTAGE_MIN

constexpr uint32_t rb::Battery::VOLTAGE_MIN = 3300 * 2

staticconstexpr

Minimal battery voltage, in mV, at which the robot shuts down.

VOLTAGE_WARNING

constexpr uint32_t rb::Battery::VOLTAGE_WARNING = 3500 * 2

staticconstexpr

The voltage at which alert triggers.

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The documentation for this class was generated from the following files:

• RBControl_battery.hpp
• RBControl_battery.cpp