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Published 20 hours ago • verified publisher icon robotology

iCubGenova09 (iRonCub3) S/N:000 – Unable to read the data coming from the BMS/BAT

Open gabrielenava opened this issue 1 year ago • 5 comments

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

See a similar issue on Ergocub https://github.com/robotology/icub-tech-support/issues/1715

Detailed context

Following this comment in a similar issue for Ergocub (https://github.com/robotology/icub-tech-support/issues/1715):

It seems to me as well, please @gabrielenava open an issue for fixing this, thanks.

the same problem is occurring on iRonCub3, so if the problem is fixed for Ergocub we might replicate the solution to iRonCub

cc @S-Dafarra @DanielePucci

Additional context

No response

How does it affect you?

No response

gabrielenava avatar Jan 29 '24 13:01 gabrielenava

cc @MSECode

sgiraz avatar Jan 29 '24 14:01 sgiraz

Oks, need to check the cabling of the CAN connection between EMS02 and BMS (if BMS is present, I think so) and EMS01 and BAT and then check again. Some data on the BAT are shown always as none, such as the current, since we are not currently sending it since it is not accurate. There'll be soon an update where we are going to send it anyways.

MSECode avatar Jan 29 '24 14:01 MSECode

FYI, the robot is in the robot kitchen close to the AMI area in these days, not on the roof

gabrielenava avatar Jan 29 '24 14:01 gabrielenava

Hi @gabrielenava, I added the cable that connect the BAT board to the ESM EB1. To read the value from the BAT you should have the following files in yout robots-configuration folder:

  • https://github.com/robotology/robots-configuration/blob/devel/ergoCubSN002/hardware/battery/battery_bat.xml

  • https://github.com/robotology/robots-configuration/blob/devel/ergoCubSN002/wrappers/battery/battery_bat.xml

  • And this section within the start-up file (lines 124 to 126): https://github.com/robotology/robots-configuration/blob/f3cb9d6c45de23966f6d99aae2f4ae984edcc44a/ergoCubSN002/ergocub_all.xml#L124

Then you should be able to read the values from BAT!

Please send us a feedback!

AntonioConsilvio avatar Apr 24 '24 15:04 AntonioConsilvio

Thanks @AntonioConsilvio! we'll test it in the next experimental campaign!

gabrielenava avatar May 02 '24 15:05 gabrielenava

cc @davidegorbani

gabrielenava avatar Jun 18 '24 13:06 gabrielenava

sorry for the delay @AntonioConsilvio, we finally tested what you suggested in https://github.com/robotology/icub-tech-support/issues/1727#issuecomment-2075204918

we got this output from the port:

Screenshot from 2024-06-18 17-21-02

if you think it is ok despite the NaN, we can close the issue!

gabrielenava avatar Jun 18 '24 16:06 gabrielenava

@gabrielenava that is correct. Since you are reading data from the BAT, 4th value is always NaN that is the battery pack temperature and it is not available for BAT. And the 3rd value is available only if the BMS is connected because is the battery pack state of charge. So that is fine and I think you can close the issue.

Check the details here: https://icub-tech-iit.github.io/documentation/battery_boards/bat_board/bat_board/#data-displayed-on-the-yarp-port

MSECode avatar Jun 19 '24 07:06 MSECode

Good job @gabrielenava and thanks for the explanation @MSECode, as everything is as expected I will continue by closing the issue!

I would like to remind that the battery (and therefore the BMS) is currently not present on iRonCub3, so the BAT behaviour makes perfect sense. Closing!

AntonioConsilvio avatar Jun 19 '24 08:06 AntonioConsilvio