battery.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/
 
#include "../../include/kobuki_driver/modules/battery.hpp"
 
/*****************************************************************************
** Namespaces
*****************************************************************************/
 
namespace kobuki {
 
/*****************************************************************************
** Statics
*****************************************************************************/
 
double Battery::capacity  = 16.5;
double Battery::low       = 14.0;
double Battery::dangerous = 13.2;
 
/*****************************************************************************
** Implementation
*****************************************************************************/
Battery::Battery (const uint8_t &new_voltage, const uint8_t &charger_flag) :
  voltage(static_cast<double>(new_voltage)/10.0)
{
  uint8_t state = (charger_flag & CoreSensors::Flags::BatteryStateMask);
  if ( state == CoreSensors::Flags::Charging) {
    charging_state = Charging;
  } else if ( state == CoreSensors::Flags::Charged ) {
    charging_state = Charged;
    capacity = voltage;
  } else {
    charging_state = Discharging;
  }
 
  if (charging_state == Discharging) {
    charging_source = None;
  } else if ( charger_flag & CoreSensors::Flags::AdapterType ) {
    charging_source = Adapter;
  } else {
    charging_source = Dock;
  }
};
 
Battery::Level Battery::level() const {
  if ( charging_state == Charged ) { return Maximum; }
  if ( voltage > low ) { return Healthy; }
  if ( voltage > dangerous ) { return Low; }
  return Dangerous;
}
 
float Battery::percent() const {
  // convert battery voltage to percent: 100% -> capacity / 5% -> dangerous
  float percent = ((95*(voltage - dangerous)) / (capacity - dangerous)) + 5;
  return std::max(std::min(percent, 100.0f), 0.0f);
}
 
} // namespace kobuki