Battery
robodyno.components.can_bus.battery
Battery driver.
The battery driver can be used to get the battery voltage and current.
Examples:
>>> from robodyno.components import Battery
>>> from robodyno.interfaces import CanBus
>>> can = CanBus()
>>> battery = Battery(can)
>>> print(battery)
Battery(id=0x0F, voltage=27.66, current=0.0, error=0, rsoc=0.88, fet=3)
Battery
Bases: CanBusDevice
Battery driver.
Attributes:
| Name | Type | Description |
|---|---|---|
id |
int
|
Device id. |
type |
Model
|
Device type. |
fw_ver |
float
|
Firmware version. |
voltage |
float
|
Battery voltage. |
current |
float
|
Battery current. |
error |
int
|
Error code. |
rsoc |
float
|
Relative state of charge. |
fet |
int
|
FET status. |
__init__(can, id_=15)
Initializes the battery driver.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
can |
CanBus
|
Can bus instance. |
required |
id_ |
int
|
Device id. |
15
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the device id is invalid. |
__repr__()
Gets the string representation of the battery driver.
Returns:
| Name | Type | Description |
|---|---|---|
str |
str
|
String representation of the battery driver. |
config_can_bus(new_id, heartbeat=1000, bitrate=1000000)
Configures the CAN bus settings.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
new_id |
int
|
The new device id. |
required |
heartbeat |
int
|
The heartbeat period in milliseconds. |
1000
|
bitrate |
int
|
The bitrate of the CAN bus. Choose from 250000, 500000, 1000000. |
1000000
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the new CAN id is not in the range of 0x01-0x3f. |
get_voltage(timeout=None)
Reads the voltage of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
float | None
|
the voltage(V). Returns None if times out. |
get_current(timeout=None)
Reads the current of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
float | None
|
the current(A). Positive value means charging. Returns None if times out. |
get_capacity(timeout=None)
Reads the capacity of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
(remaining capacity(Ah), standard_capacity). Returns None if times out. |
get_cycle_count(timeout=None)
Reads the cycle count of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
int | None
|
the cycle count. Returns None if times out. |
get_production_date(timeout=None)
Reads the production date of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
datetime | None
|
the production date. Returns None if times out. |
get_balance_status(timeout=None)
Reads the balance status of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
int | None
|
the balance status. Returns None if times out. |
get_protection_status(timeout=None)
Reads the protection status of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
int | None
|
the protection status. Returns None if times out. |
get_hardware_version(timeout=None)
Reads the hardware version of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
str | None
|
the hardware version. Returns None if times out. |
get_rsoc(timeout=None)
Reads the rsoc of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
float | None
|
the remaining state of charge. Returns None if times out. |
get_fet(timeout=None)
Reads the fet status of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
int | None
|
the fet status. Returns None if times out. |
get_string_count(timeout=None)
Reads the string count of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
int | None
|
the string count. Returns None if times out. |
get_temperature(timeout=None)
Reads the temperature of the battery.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
The timeout in seconds. |
None
|
Returns:
| Type | Description |
|---|---|
tuple | None
|
the temperatures. Returns None if times out. |