battery percentage is negative if discharging

Author: gbr1

examples/firmware/firmware.ino

@@ -329,7 +329,7 @@ void loop(){
   if (millis()-tbattery>1000){
     tbattery = millis();
     alvik.updateBMS();
-    msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
+    msg_size = packeter.packetC1F('p', alvik.isBatteryCharging()*alvik.getBatteryChargePercentage());
     alvik.serial->write(packeter.msg,msg_size);
   }
 }

src/Arduino_AlvikCarrier.cpp

@@ -269,13 +269,20 @@ void Arduino_AlvikCarrier::disconnectExternalI2C(){
 /******************************************************************************************************/
 
 int Arduino_AlvikCarrier::beginBMS(){
+    charging = 0.0;
     while(digitalRead(NANO_CHK)==HIGH){}
     return bms->begin();
 }
 
 void Arduino_AlvikCarrier::updateBMS(){
     voltage = bms->readVCell();
     state_of_charge = bms->readSoc();
+    if (bms->isCharging()){
+        charging = 1.0;
+    }
+    else{
+        charging = -1.0;
+    }
 }
 
 
@@ -287,6 +294,10 @@ float Arduino_AlvikCarrier::getBatteryChargePercentage(){
     return state_of_charge;
 }
 
+float Arduino_AlvikCarrier::isBatteryCharging(){
+    return charging;
+}
+
 
 
 /******************************************************************************************************/
@@ -997,15 +1008,15 @@ void Arduino_AlvikCarrier::updateBehaviours(){
     // battery alert
     if ((1<<(BATTERY_ALERT-1)) & behaviours){
         if (getBatteryVoltage()<BATTERY_ALERT_MINIMUM_VOLTAGE){
-            if (battery_alert_time-millis()>battery_alert_wave){
+            if (millis()-battery_alert_time>battery_alert_wave){
                 battery_alert_time = millis();
-                if (battery_alert_wave==100){
-                    setAllLeds(COLOR_RED);
-                    battery_alert_wave=400;
+                if (battery_alert_wave==400){
+                    setLeds(COLOR_RED);
+                    battery_alert_wave=100;
                 }
                 else{
-                    setAllLeds(COLOR_BLACK);
-                    battery_alert_wave=100;
+                    setLeds(COLOR_BLACK);
+                    battery_alert_wave=400;
                 }
                 setRpm(0,0);
                 motor_left->stop();

src/Arduino_AlvikCarrier.h

@@ -45,7 +45,7 @@ class Arduino_AlvikCarrier{
 
 
         MAX17332 * bms;
-        float voltage, state_of_charge; 
+        float voltage, state_of_charge, charging; 
 
 
         AT42QT2120 * touch_sensor;
@@ -158,6 +158,7 @@ class Arduino_AlvikCarrier{
         void updateBMS();                                                               // update the BMS
         float getBatteryVoltage();                                                      // get Voltage
         float getBatteryChargePercentage();                                             // get battery percentage
+        float isBatteryCharging();                                                      // return -1 if battery discharge or 1 if charging
 
 
 

src/definitions/robot_definitions.h

@@ -96,7 +96,7 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 #define VERSION_BYTE_LOW 3
 
 // Battery stats
-#define BATTERY_ALERT_MINIMUM_VOLTAGE 3.4
+#define BATTERY_ALERT_MINIMUM_VOLTAGE 4.0