diff --git a/src/darwin_robot.cpp b/src/darwin_robot.cpp
index 7f450649c17405a3ebb7b966d0b5cccc7329bcde..9438169a651d1a5c8748d06bac30d62e70bd9e15 100644
--- a/src/darwin_robot.cpp
+++ b/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)
diff --git a/src/darwin_robot.h b/src/darwin_robot.h
index ebbbb1e5f26f406346e7d5002943acff4c21977c..80881293b9bc504b3f1655e44088bc7c1b12cd10 100644
--- a/src/darwin_robot.h
+++ b/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);
/**
diff --git a/src/examples/darwin_smart_charger_test.cpp b/src/examples/darwin_smart_charger_test.cpp
index b38c28e7dceddc0541cd9749f9a7748f2c87159a..44e266d754c9e0b859d90acd0af8ed56e20b53ab 100644
--- a/src/examples/darwin_smart_charger_test.cpp
+++ b/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();