Power

Power Server

This node publishes battery state information regularly.

Parameters

• ~rate, float: the rate at which battery state information is published in Hz (default: 1).
• ~publish_aux_battery, bool: set to true to publish a second auxiliary battery status (default: false).

Published Topics

• power/battery, BatteryState: the current state of the primary Pi-puck battery.
• power/aux_battery, BatteryState: the current state of the auxiliary Pi-puck battery.

Subscribed Topics

None.

Assumptions

This node assumes you are using the 1800mAh e-puck/Pi-puck batteries.

The auxiliary battery is assumed to have a max voltage of 4.2 volts and a min voltage of 3.3 volts, like the primary battery.

If any of these assumptions are wrong then the internal configuration should be adjusted or other nodes should take this into account.

Limitations

While the primary battery is being charged, the current charge level cannot be determined so the charge percent will show as 100% even when it is not fully charged. The charge status should, however, still correctly say when it is full.