battery

Author: gbr1

examples/blink/blink.ino

@@ -24,7 +24,7 @@ void setup(){
 
 void loop(){
     alvik.setLedBuiltin(HIGH);
-    delay(100);
+    delay(1000);
     alvik.setLedBuiltin(LOW);
     delay(1000);
 }

examples/firmware/firmware.ino

@@ -39,6 +39,7 @@ unsigned long tsensor = 0;
 unsigned long timu = 0;
 unsigned long tack = 0;
 unsigned long tbehaviours = 0;
+unsigned long tbattery = 0;
 
 
 float left, right, value;
@@ -73,6 +74,10 @@ void setup(){
   msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
   alvik.serial->write(packeter.msg,msg_size);
 
+  alvik.updateBMS();
+  msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
+  alvik.serial->write(packeter.msg,msg_size);
+
   alvik.setLedBuiltin(LOW);
   alvik.setLeds(COLOR_BLACK);
 
@@ -300,4 +305,11 @@ void loop(){
     msg_size = packeter.packetC6F('i', alvik.getAccelerationX(), alvik.getAccelerationY(), alvik.getAccelerationZ(), alvik.getAngularVelocityX(), alvik.getAngularVelocityY(), alvik.getAngularVelocityZ());
     alvik.serial->write(packeter.msg,msg_size);
   }
+
+  // battery update
+  if (millis()-tbattery>1000){
+    alvik.updateBMS();
+    msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
+    alvik.serial->write(packeter.msg,msg_size);
+  }
 }

src/Arduino_AlvikCarrier.cpp

@@ -85,6 +85,7 @@ Arduino_AlvikCarrier::Arduino_AlvikCarrier(){
 
 int Arduino_AlvikCarrier::begin(){
     beginLeds();
+    pinMode(NANO_CHK,INPUT_PULLDOWN);
 
     serial->begin(UART_BAUD);
     serial->flush();
@@ -254,6 +255,7 @@ void Arduino_AlvikCarrier::disconnectExternalI2C(){
 /******************************************************************************************************/
 
 int Arduino_AlvikCarrier::beginBMS(){
+    while(digitalRead(NANO_CHK)==HIGH){}
     bms->begin();
     return 0;
 }

src/definitions/pinout_definitions.h

@@ -69,6 +69,8 @@
 #define I2C_2_SCL PB10
 #define ARDUINO_ROBOT_ADDRESS 0x2B
 
+// Check
+#define NANO_CHK PC0
 
 // Touch
 #define TOUCH_PAD_UP 7