Battery Management and System Energy Monitoring (BMSEM) Class. More...

#include <laeBatt.h>

Public Member Functions
	LaeBattery ()
	Default constructor.

virtual	~LaeBattery ()
	Destructor.

bool	getChargingState ()
	Get the most recently updated battery charging state. More...

double	getBatteryVoltage ()
	Get the most recently sensed battery voltage. More...

double	getBatteryStateOfCharge ()
	Get the most recently estimated battery state of charge. More...

double	getMotorCurrent ()
	Get most recently sensed current pulled by all motors. More...

double	getMotorPowerElec (const double fMotorWatts)
	Get most recently calculated power used by all motors. More...

double	getTotalCurrent ()
	Get most recently estimated total current pulled by the robot. More...

double	getTotalPower ()
	Get most recently estimated power consumed by robot. More...

virtual void	calcMotorEnergyState ()
	Calculate the present energy state of the robot motors. More...

virtual void	calcLogicEnergyState ()
	Calculate the present energy state of all logic curcuitry. More...

virtual double	estimateBatteryStateOfCharge ()
	Estimate batteries State of Charge given the present energy state. More...

virtual void	update ()
	Update the energy state for all of the robot's subsystems.

Protected Attributes
bool	m_bIsCharging
	the battery is [not] being charged

double	m_fBatteryVoltage
	sensed battery output voltage (V)

double	m_fBatterySoC
	battery state of charge (0% - 100%)

double	m_fMotorAmps
	sensed current for all motors (A)

double	m_fMotorWatts
	sensed power for all motors (watts)

double	m_fLogicAmps
	current consumed by logic circuitry (A)

double	m_fLogicWatts
	power consumed by logic circuitry (watts)

double	m_fTotalAmps
	total system current draw (A)

double	m_fTotalWatts
	total system power used (watts)

Detailed Description

Battery Management and System Energy Monitoring (BMSEM) Class.

Definition at line 65 of file laeBatt.h.

Member Function Documentation

void LaeBattery::calcLogicEnergyState ( )

virtual

Calculate the present energy state of all logic curcuitry.

Logic circuitry includes odroid, motor controllers, battery chargers, IMU, watchdog sub-processor, sensors, and supporting hardware.

Definition at line 317 of file laeBatt.cxx.

Referenced by getTotalPower().

 {
   //
   // TODO See https://github.com/hardkernel/EnergyMonitor
   //
   m_fLogicAmps  = 0.5;
   m_fLogicWatts = m_fLogicAmps * 1.8;
 }

void LaeBattery::calcMotorEnergyState ( )

virtual

Calculate the present energy state of the robot motors.

Note: The motor controllers have battery voltage sensors, so the battery voltage is determined here also.

Definition at line 266 of file laeBatt.cxx.

References LAE_VERSION.

Referenced by getTotalPower().

 {
   int     nCtlr, nMotor;
   double  fVolts, fAmps, fWatts;
 
   m_fBatteryVoltage = 0.0;
   m_fMotorAmps      = 0.0;
   m_fMotorWatts     = 0.0;
 
   //
   // Motor controllers have the best voltage sense accuracy. Use if possible.
   //
   if( RtDb.m_enable.m_bMotorCtlr )
   {
     //
     // Batteries and motors
     //
     for(nCtlr=0; nCtlr<LaeNumMotorCtlrs; ++nCtlr)
     {
       fVolts = RtDb.m_motorctlr[nCtlr].m_fBatteryVoltage;
       for(nMotor=0; nMotor<LaeNumMotorsPerCtlr; ++nMotor)
       {
         fAmps   = RtDb.m_motorctlr[nCtlr].m_fMotorCurrent[nMotor];
         fWatts  = fAmps * fVolts;
 
         m_fMotorAmps  += fAmps;
         m_fMotorWatts += fWatts;
       }
       m_fBatteryVoltage += fVolts;
     }
 
     // average
     m_fBatteryVoltage /= (double)LaeNumMotorCtlrs;
   }
 
   //
   // For original 2.0 hardware, the only sources to sense battery voltages were
   // from the motor controllers. New in v2.1+, there is a direct voltage sense
   // to the WatchDog processor. This change was needed because the motor
   // controllers' power enable line can be disabled independent of battery
   // state.
   //
   // However, voltage sense is less accurate. Use only if motor controllers'
   // power is disablbed.
   // 
   else if( RtDb.m_product.m_uProdHwVer >= LAE_VERSION(2, 1, 0) )
   {
     m_fBatteryVoltage = RtDb.m_energy.m_fBatteryVoltage;
   }
 }

double LaeBattery::estimateBatteryStateOfCharge ( )

virtual

Estimate batteries State of Charge given the present energy state.

Returns: SoC [0.0% - 100.0%]

Definition at line 326 of file laeBatt.cxx.

References linearInterp(), and lookupSoC().

Referenced by getTotalPower().

 {
   double  fC;
   size_t  n, i;
   double  fSoC0, fSoC1;
 
   // normalize specific current
   fC = m_fTotalAmps / LaeTuneBattCapAh;
 
   n = arraysize(LiIonCellSoCTbls);
 
   // look for C's nearest entries
   for(i = 0; i < n; ++i)
   {
     if( LiIonCellSoCTbls[i].m_fC >= fC )
     {
       break;
     }
   }
 
   // lower boundary case - single interpolation
   if( i == 0 )
   {
     m_fBatterySoC = lookupSoC(m_fBatteryVoltage, LiIonCellSoCTbls[i].m_pTbl,
                                         LiIonCellSoCTbls[i].m_sizeTbl);
   }
   // upper boundary case - single interpolation
   else if( i == n )
   {
     m_fBatterySoC = lookupSoC(m_fBatteryVoltage, LiIonCellSoCTbls[i-1].m_pTbl,
                                         LiIonCellSoCTbls[i-1].m_sizeTbl);
   }
   // double interpolation
   else
   {
     fSoC0 = lookupSoC(m_fBatteryVoltage, LiIonCellSoCTbls[i-1].m_pTbl,
                                         LiIonCellSoCTbls[i-1].m_sizeTbl);
     fSoC1 = lookupSoC(m_fBatteryVoltage, LiIonCellSoCTbls[i].m_pTbl,
                                         LiIonCellSoCTbls[i].m_sizeTbl);
     m_fBatterySoC = linearInterp(fC,
                           LiIonCellSoCTbls[i-1].m_fC, LiIonCellSoCTbls[i].m_fC,
                           fSoC0, fSoC1);
   }
 
   return m_fBatterySoC;
 }

double laelaps::LaeBattery::getBatteryStateOfCharge ( )

inline

Get the most recently estimated battery state of charge.

Returns: State of Charge (0.0% - 100.0%).

Definition at line 106 of file laeBatt.h.

References m_fBatterySoC.

     {
       return m_fBatterySoC;
     }

double laelaps::LaeBattery::getBatteryVoltage ( )

inline

Get the most recently sensed battery voltage.

The battery voltage is the (weighted) average of all voltage sensors from all batteries.

Returns: The sensed battery average voltage (V).

Definition at line 96 of file laeBatt.h.

References m_fBatteryVoltage.

     {
       return m_fBatteryVoltage;
     }

bool laelaps::LaeBattery::getChargingState ( )

inline

Get the most recently updated battery charging state.

Returns: The batteries are [not] being charged.

Definition at line 83 of file laeBatt.h.

References m_bIsCharging.

     {
       return m_bIsCharging;
     }

double laelaps::LaeBattery::getMotorCurrent ( )

inline

Get most recently sensed current pulled by all motors.

Parameters

Motor current (amps).

Definition at line 116 of file laeBatt.h.

References m_fMotorAmps.

     {
       return m_fMotorAmps;
     }

double laelaps::LaeBattery::getMotorPowerElec ( const double fMotorWatts )

inline

Get most recently calculated power used by all motors.

Returns: Motor power (watts).

Definition at line 126 of file laeBatt.h.

References m_fMotorWatts.

     {
       return m_fMotorWatts;
     }

double laelaps::LaeBattery::getTotalCurrent ( )

inline

Get most recently estimated total current pulled by the robot.

Returns: System total current (amps).

Definition at line 136 of file laeBatt.h.

References m_fTotalAmps.

     {
       return  m_fTotalAmps;
     }

double laelaps::LaeBattery::getTotalPower ( )

inline

Get most recently estimated power consumed by robot.

Returns: System total power (watts).

Definition at line 146 of file laeBatt.h.

References calcLogicEnergyState(), calcMotorEnergyState(), estimateBatteryStateOfCharge(), m_fTotalWatts, and update().

     {
       return m_fTotalWatts;
     }

The documentation for this class was generated from the following files:

include/Laelaps/laeBatt.h
sw/liblaelaps/laeBatt.cxx

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation