[cob_voltage_control] configuration of savitzky_golay

[moriarty]

Hi,

There are python scripts to record and generate the configuration params for the battery_voltage_monitor. We are searching more information information on how to use them properly.

To recored:
cob_voltage_control/.../record_current_and_voltage.py

To generate savitzky_golay config params from recorded voltages:
cob_voltage_control/.../time_volt.py

The generated file then goes here (for example cob3-6):
cob_hardware_config/cob3-6/.../battery_voltage_filter.yaml

We have generated some of the values, on our fork for cob3-1:
cob_hardware_config/cob3-1/.../battery_voltage_filter.yaml

The scripts didn't work out of the box, after some small modifications (pull request to come later) we were able to generate some values (above). We only recorded the voltage for 6 minutes after unplugging the robot from the charger as an initial test.

• How long should we record voltage data?
• Under what conditions should we record the data?
  • From fully charged state?
  • During operation?
  • Under heavy loads?