diff --git a/procedures/battery_management/battery_management.tex b/procedures/battery_management/battery_management.tex
index 81374e9bd2179881814aa4d831df82a6ef5d8d37..7ec5dc2f4ac618d6cf5c831ccee71febd7429603 100644
--- a/procedures/battery_management/battery_management.tex
+++ b/procedures/battery_management/battery_management.tex
@@ -68,24 +68,38 @@ Safety considerations to be taken into account when following these procedures a
Both robots have two main batteries each. See table \ref{tab:battery-spec} for more details.
\begin{itemize}
- \item Payload battery: it powers all the on-board computers sensors and devices.
- \item Platform battery: it powers the Segway RMP 200 platform.
+ \item Payload battery: it powers all the on-board computers sensors and devices. See Fig. \ref{fig:payload-batt}.
+ \item Platform battery: it powers the Segway RMP 200 platform. See Fig.\ref{fig:platform-batt}
\end{itemize}
+\begin{figure}[ht]
+ \centering
+ \includegraphics[width=.6\linewidth]{example-image}
+ \caption{Payload battery, connector and charger}
+ \label{fig:payload-batt}
+\end{figure}
+
+\begin{figure}[hb]
+ \centering
+ \includegraphics[width=.6\linewidth]{example-image}
+ \caption{Platform battery, connector and charger}
+ \label{fig:platform-batt}
+\end{figure}
+
% Please add the following required packages to your document preamble:
% \usepackage[table,xcdraw]{xcolor}
% If you use beamer only pass "xcolor=table" option, i.e. \documentclass[xcolor=table]{beamer}
-\begin{table}[]
+\begin{table}[ht]
\begin{tabular}{|
>{\columncolor[HTML]{EFEFEF}}l |r|r|r|}
\hline
\cellcolor[HTML]{C0C0C0}\textbf{Feature/Battery} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi/Dabo \\ Segway\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi \\ payload\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Dabo \\ payload\\ battery\end{tabular}} \\ \hline
\textbf{Type} & Li-Ion & Li-Ion & Li-Ion \\ \hline
- \textbf{Cell configuration} & --- & 7s18p & 7s18p \\ \hline
- \textbf{Nominal voltage (V)} & 72 & 25.9 & 25.2 \\ \hline
+ \textbf{Cell config} & --- & 7s18p & 7s18p \\ \hline
+ \textbf{\begin{tabular}[c]{@{}l@{}}Nominal \\ voltage (V)\end{tabular}} & 72 & 25.9 & 25.2 \\ \hline
\textbf{Capacity (Ah)} & 5.3 & 49.5 & 52.2 \\ \hline
- \textbf{Power connector} & \begin{tabular}[c]{@{}r@{}}Segway\\ custom\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} \\ \hline
- \textbf{\begin{tabular}[c]{@{}l@{}}Balancing/monitoring\\ connector\end{tabular}} & --- & SMBUS & SMBUS \\ \hline
+ \textbf{\begin{tabular}[c]{@{}l@{}}Power\\ connector\end{tabular}} & \begin{tabular}[c]{@{}r@{}}Segway\\ custom\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} \\ \hline
+ \textbf{\begin{tabular}[c]{@{}l@{}}Balancing\\ connector\end{tabular}} & --- & SMBUS & SMBUS \\ \hline
\textbf{Manufacturer} & Segway & Amopack & Amopack \\ \hline
\end{tabular}
\caption{Battery specifications}
@@ -95,16 +109,104 @@ Both robots have two main batteries each. See table \ref{tab:battery-spec} for m
Remote controllers also have their own batteries:
\begin{itemize}
- \item Security remote controller battery
- \item Teleoperation remote controller battery:
+ \item Security remote controller battery. See Fig.\ref{fig:security-batt}
+ \item Teleoperation remote controller battery. It's embedded in the PlayStation3 pad remote controller and can't be removed. See Fig.\ref{fig:teleop-pad}
\end{itemize}
+\begin{figure}[ht]
+ \centering
+ \includegraphics[width=.6\linewidth]{example-image}
+ \caption{Security remote control battery}
+ \label{fig:security-batt}
+\end{figure}
+
+\begin{figure}[hb]
+ \centering
+ \includegraphics[width=.6\linewidth]{example-image}
+ \caption{Teleoperation PlayStation3 remote controller}
+ \label{fig:teleop-pad}
+\end{figure}
+
\section{Check battery status procedure}
+\begin{itemize}
+ \item Platform/Segway battery
+ \begin{itemize}
+ \item Operation: status topic if driver running
+ \item Charging: back panel LEDs (see manual)
+ \item Alarm: sound (see manual)
+ \end{itemize}
+ \item Payload battery
+ \begin{itemize}
+ \item Operation: side button panel, or status topic if driver running
+ \item Charging: charger LEDs
+ \item Alarm: software sound (to be tested)
+ \end{itemize}
+ \item Security remote controller battery
+ \begin{itemize}
+ \item Operation: LED (see manual)
+ \item Charging: charger LEDs
+ \item Alarm: none
+ \end{itemize}
+ \item Teleoperation remote controller battery
+ \begin{itemize}
+ \item Operation: diagnostics topic if driver running
+ \item Charging: LEDs
+ \item Alarm: none
+ \end{itemize}
+\end{itemize}
+
\section{Charge batteries procedure}
+\begin{itemize}
+ \item Platform/Segway battery
+ \begin{enumerate}
+ \item Connect charger cable to charging port.
+ \item Connect charger cable to power plug.
+ \item Enable charging button. When enabled or in charging position, button should have a red light on.
+ \item Lights should blink. See LED code table.
+ \end{enumerate}
+ \item Payload battery
+ \begin{enumerate}
+ \item Connect charger cable to power plug.
+ \item Connect charger cable into front-right plug (unique position).
+ \item The charger LED should bright in orange when charging, green when fully charged.
+ \end{enumerate}
+ \item Security remote controller battery
+ \begin{enumerate}
+ \item Connect charger cable to power plug.
+ \item Slide in battery in charger.
+ \item Charger lights should bright in green and orange when charging, only green when fully charged.
+ \end{enumerate}
+ \item Teleoperation remote controller battery
+ \begin{enumerate}
+ \item Plug usb cable to powered usb port
+ \item Controller lights should blink, and turn off when fully charged.
+ \item Note: controller can be charging during operation through bluetooth, as long as the USB cable is plugged when the controller is already paired.
+ \end{enumerate}
+\end{itemize}
+
\section{Change batteries procedure}
+\begin{itemize}
+ \item Platform/Segway battery
+ \begin{itemize}
+ \item Shouldn't be removed. See manual for details.
+ \end{itemize}
+ \item Payload battery
+ \begin{itemize}
+ \item Shouldn't be removed. See manual for details.
+ \end{itemize}
+ \item Security remote controller battery
+ \begin{itemize}
+ \item Slide out or in the battery from the controller.
+ \end{itemize}
+ \item Teleoperation remote controller battery
+ \begin{itemize}
+ \item Can't be removed.
+ \end{itemize}
+\end{itemize}
+
\newpage
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\bibliography{references}