Added the pictures of the motor and payload batteries.

Added the pinout for the SMBus connector.

procedures/battery_management/battery_management.tex

@@ -2,12 +2,14 @@
 \usepackage[english]{babel}
 \usepackage[utf8x]{inputenc}
 \usepackage{graphicx}
+\usepackage{caption}
+\usepackage{subcaption}
 \graphicspath{ {./images/} }
 \usepackage{wrapfig}
 \usepackage{multirow}
 
 %opening
-\title{Battery management}
+\title{Ana/Helena Battery management}
 \author{Sergi Hernandez Juan}
 
 \begin{document}
@@ -66,9 +68,34 @@ The Ana and Helena robots have two separate batteries each:
 Both batteries have two external connectors:
 \begin{itemize}
 	\item Power: 2 way male connector from TE Connectivity (reference number 350777-1).
-	\item Monitoring: 4 way male connector from ?? (reference number ???) The pinout of this connector is shown in Table \ref{}. These signals are used to monitor the state of charge of the battery, as well as other parameters, from software.
+	\item Monitoring: Stereo 2.5 mm female audio jack from CUI (reference number SR-2501). The pinout of this connector is shown in Figure \ref{img_smbus_pinout}. These signals are used to monitor the state of charge of the battery, as well as other parameters, from software.
+	
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.25\textwidth]{smbus_pinout.jpg}
+		\caption{Pinout of the SMBus battery connector.}
+		\label{img_smbus_pinout}
+	\end{figure}	
 \end{itemize}
 
+Each battery has a dedicated charger shown in Fig. \ref{img_payload_charger} and Fig. \ref{img_motor_charger}. The chargers are labeled \textit{PIONEER MOTOR} and \textit{PIONEER PAYLOAD} for the motor and payload batteries respectively.
+
+\begin{figure}[ht]
+	\centering
+	\begin{subfigure}[b]{0.4\textwidth}
+		\includegraphics[width=\textwidth]{payload_charger.jpg}
+		\caption{Charger for the payload batteries}
+		\label{img_payload_charger}
+	\end{subfigure}
+	~
+	\begin{subfigure}[b]{0.4\textwidth}
+		\includegraphics[width=\textwidth]{motor_charger.jpg}
+		\caption{Charger for the motor batteries}
+		\label{img_motor_charger}
+	\end{subfigure}
+	\caption{Chargers needed for the Ana and Helena robots.}
+\end{figure}
+
 \section{Change batteries}\label{proc_change_bat}
 To change one of the batteries or both, either because they are damaged or to replace them with fully charged ones, please follow the next steps:
 
@@ -152,7 +179,7 @@ To charge the batteries while they are inside the robot, please follow the next
 
 \begin{table}[h]
 	\begin{tabular}{p{1cm}p{10cm}}
-		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} \vspace{0.5cm} & \textbf{IMPORTANT:} Both batteries can be charged at the same time. \\
+		\multirow{3}{*}{\includegraphics[width=1cm]{info.png}} \vspace{0.5cm} & \textbf{INFO:} Both batteries can be charged at the same time. \\
 		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} The chargers may be connected to the robot while it is powered on, but in this case the batteries will take longer to charge or not charge at all, depending on the current consumption. \\
 		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:}	For security purposes, please try not to leave unattended the robot while it is charging.	
 	\end{tabular}