Functions which handle the battery voltage. More...

Modules
	Advanced informations

Request Funktions
void	battery_request (eRequestType request)
	Requests new data from the battery. More...

uint8_t	battery_received (void)
	Indicates if new data for the data block sMD_SensBattery was received. More...

uint8_t	battery_changed (void)
	Indicates if new data changed the data block sMD_SensBattery. More...

Access Funktions
uint16_t	battery_get (void)
	Returns the last stored voltage of the battery. More...

Detailed Description

Functions which handle the battery voltage.

Note

The battery voltage is always monitored by the driving module of the TUC-Bot. The discharge-protection has four level:

0	full	>6,9V	LED off
1	soon empty	6,4V...6,9V	LED is toggled
2	empty	<6,4V	LED on; motors off
3	deep-discharge	<6V	Robot is protected by a hardware circuit. Please turn off the robot and charge battery as soon as possible!

If robot is in level 2 (led on; motors stopped), it is not going back to level 1 or 0. But you may turn the robot off and on again.

example

/*******************************************************************************
* examples/battery.c                                                           *
* ==================                                                           *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 01.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testBattery(void);
int main(void);
 
//*********************************[testBattery]********************************
void testBattery(void) {
 
    lcdclr();
    lcdstr_p(PSTR("Battery"         ));
    lcdxy(0,1);
    lcdstr_p(PSTR("Voltage:##### mV"));
 
    battery_request(kRequestContinuous);
 
    while (1) {
        if (battery_changed()) {
            lcdxy(8,1);
            int16tostr(lcdout,battery_get() * 10,5);
 
            mdelay(250);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    testBattery();
 
    return (0);
}

Function Documentation

◆ battery_changed()

uint8_t battery_changed ( void )

Indicates if new data changed the data block sMD_SensBattery.

The return value is boolean.

Returns: 8-bit unsigned integer which is a boolean value

See also: battery_received(), battery_request() and battery_get()

Examples: battery.c.

◆ battery_get()

uint16_t battery_get ( void )

Returns the last stored voltage of the battery.

This function relies on the internal data block sMD_SensBattery - for new data use battery_request().

Returns: 16-bit unsigned integer (0..1023)
The battery voltage is measured in 10 millivolts units. E.g. a value of 675 relates to 6.75 V.

See also: battery_request(), battery_received() and battery_changed()

Examples: battery.c.

◆ battery_received()

uint8_t battery_received ( void )

Indicates if new data for the data block sMD_SensBattery was received.

The return value is boolean.

Returns: 8-bit unsigned integer which is a boolean value

See also: battery_changed(), battery_request() and battery_get()

◆ battery_request()

void battery_request ( eRequestType request )

Requests new data from the battery.

For details on the request schema see The general request.

Involved data blocks are:
sMD_SensBattery

Parameters

request See also eRequestType

See also: battery_get(), battery_received() and battery_changed()

Examples: battery.c.

Modules