Added a function to read limit current of the smart charger

src/darwin_robot.cpp

@@ -1837,7 +1837,7 @@ bool CDarwinRobot::is_smart_charger_det_and_en(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
-
+//Set smart charger period in s
 void CDarwinRobot::smart_charger_set_period(double period)
 {
   unsigned short int period_ms;
@@ -1855,7 +1855,7 @@ void CDarwinRobot::smart_charger_set_period(double period)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
-
+//Get smart charger period in s
 double CDarwinRobot::smart_charger_get_period(void)
 {
   unsigned short int period_ms;
@@ -1884,9 +1884,11 @@ void CDarwinRobot::smart_charger_get_period(double *period)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 */
+
+/* Obtain time to full, to empty and battery status
+ */
 TChargerData CDarwinRobot::smart_charger_get_data(void)
 {
- // unsigned short charger_data[3];
   TChargerData smart_charger_data;
 
   if(this->robot_device!=NULL)
@@ -1898,6 +1900,46 @@ TChargerData CDarwinRobot::smart_charger_get_data(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
+//Set limit input current
+void CDarwinRobot::smart_charger_range_current(double min_current, double max_current)
+{
+  this->MAX_limit_current=max_current; 
+  this->MIN_limit_current=min_current;
+}
+
+//Get limit current in A
+double CDarwinRobot::smart_charger_get_limit_current(void)
+{
+  unsigned short int limit_current_ma;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_word_register(DARWIN_SMART_CHARGER_LIMIT_CURRENT_L,&limit_current_ma);
+    
+    return ((double)limit_current_ma)/1000;
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
+
+//Set limit current in A
+void CDarwinRobot::smart_charger_set_limit_current(double limit_current)
+{
+  unsigned short int limit_current_ma;
+
+  if(this->robot_device!=NULL)
+  {
+    //if(limit_current > MIN_limit_current && limit_current < MAX_limit_current){
+    if(limit_current > 0.255 && limit_current < 1.025){
+      limit_current_ma=(limit_current/2)*1000;
+      this->robot_device->write_word_register(DARWIN_SMART_CHARGER_LIMIT_CURRENT_L,limit_current_ma);
+    }else{
+      std::cout <<" Invalid current value" << std::endl;
+    }
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
 
 unsigned int CDarwinRobot::smart_charger_read_time_empty(void)
 {
@@ -1938,31 +1980,6 @@ unsigned char CDarwinRobot::smart_charger_read_status(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
-//Set limit input current
-void CDarwinRobot::smart_charger_range_current(double min_current, double max_current)
-{
-  this->MAX_limit_current=max_current; 
-  this->MIN_limit_current=min_current;
-}
-void CDarwinRobot::smart_charger_set_limit_current(double limit_current)
-{
-  unsigned short int limit_current_ma;
-
-  if(this->robot_device!=NULL)
-  {
-    //if(limit_current > MIN_limit_current && limit_current < MAX_limit_current){
-    if(limit_current > 0.255 && limit_current < 1.0){
-      limit_current_ma=limit_current*1000;
-      this->robot_device->write_word_register(DARWIN_SMART_CHARGER_LIMIT_CURRENT_L,limit_current_ma);
-    }else{
-      std::cout <<" Invalid current value" << std::endl;
-    }
-  }
-  else
-    throw CDarwinRobotException(_HERE_,"Invalid robot device");
-}
-
-
 CDarwinRobot::~CDarwinRobot()
 {
   if(this->robot_device!=NULL)

src/darwin_robot.h

@@ -218,11 +218,11 @@ class CDarwinRobot
     void smart_charger_disable(void);
  /**
  * \brief Function to set smart charger's read operation period
- * \param period_ms Period in ms of smart charger module
+ * \param period Period in s of smart charger module
  */
     void smart_charger_set_period(double period);
  /**
- * \brief Function to get smart charger's read operation period
+ * \brief Function to get smart charger's read operation period in segs
  */
     double smart_charger_get_period(void);
 /**
@@ -234,8 +234,12 @@ class CDarwinRobot
   */
     void smart_charger_range_current(double min_current, double max_current);
  /**
- * \brief Function to set smart charger's period
- * \param limit_current Value of limit current
+  * \brief Function to get limit current in A
+  */
+    double smart_charger_get_limit_current(void);
+    /**
+ * \brief Function to set smart charger's limit current
+ * \param limit_current Value of limit current in A
  */
     void smart_charger_set_limit_current(double limit_current);
  /**

src/examples/darwin_smart_charger_test.cpp

@@ -32,6 +32,7 @@ int main(int argc, char *argv[])
   double period;
   int control, status;
   TChargerData charger_data;
+  double current;
 
   try{
     CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
@@ -76,15 +77,6 @@ int main(int argc, char *argv[])
     std::cout << "Motion manager is running" << std::endl;
     
 //WRITE EEPROM
- /*   unsigned short int length = 6;		//8 bytes - RAM 0x20 to 0x27
-    unsigned short int data_eeprom[3];	//BATTERY_INPUT_CURRENT / BATTERY_CHARGE_CURRENT / BATTERY_CHARGE_VOLTAGE / BATTERY_LIMIT_CURRENT
-    unsigned char *p_eeprom;
-    p_eeprom=(uint8_t *)&data_eeprom;
-    error=dyn_master_read_table(&darwin_dyn_master,id,BATTERY_INPUT_MAX_CURRENT_L,length,p_eeprom);
-    std::cout << "Limit current eeprom: " << data_eeprom[0] << std::endl;
-    std::cout << "Output current eeprom: " << data_eeprom[1] << std::endl;
-    std::cout << "Output voltage eeprom: " << data_eeprom[2] << std::endl;
-  */ 
     double max_current=1.0;
     double min_current=0.255;
     double limit_current = 0.512; //(A)
@@ -92,13 +84,11 @@ int main(int argc, char *argv[])
   //  darwin.smart_charger_range_current(min_current, max_current);
     darwin.smart_charger_set_limit_current(limit_current);
    
+    //current=darwin.smart_charger_get_limit_current();
+    std::cout << "LIMIT CURRENT: " << darwin.smart_charger_get_limit_current() << "A" << std::endl;
+    
     
 //READ SMART CHARGER DATA
-//     charger_data=darwin.smart_charger_get_data();
-//     std::cout << "battery status: " << charger_data.bat_status << std::endl;
-//     std::cout << "Avg time to empty: " << charger_data.avg_time_empty << std::endl;
-//     std::cout << "Avg time to full: " << charger_data.avg_time_full << std::endl;
- 
     
   while(1){
     charger_data=darwin.smart_charger_get_data();
@@ -108,13 +98,15 @@ int main(int argc, char *argv[])
       std::cout << "battery status: connected" << std::endl;
     else if(charger_data.bat_status==128)
       std::cout << "battery status: connected and charging " << std::endl;
+    else
+      std::cout << "Battery status value: " << charger_data.bat_status << std::endl;
     //y totalmente cargado o descargado???
     
     std::cout << "Avg time to empty: " << charger_data.avg_time_empty << " min" << std::endl;
     std::cout << "Avg time to full: " << charger_data.avg_time_full << " min" << std::endl;
     std::cout << "---------------------- "  << std::endl;
     //std::cout << "Avg time to empty: " << darwin.smart_charger_read_time_empty() << " min" << std::endl;
-
+    
     
     //charger status --> batteries detected, AC detected, etc
     //status=darwin.smart_charger_read_status();