def _status_to_battery_(status):
"""
Converts a ds4_driver/Status to sensor_msgs/BatteryState
Reference: https://www.psdevwiki.com/ps4/DualShock_4#Specifications
:param status:
:type status: Status
:return:
"""
msg = BatteryState()
msg.header = status.header
msg.percentage = status.battery_percentage
msg.voltage = Controller.MAX_VOLTAGE * msg.percentage
msg.current = float('NaN')
msg.charge = float('NaN')
msg.capacity = float('NaN')
msg.design_capacity = 1.0
if not status.plug_usb:
msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING
elif not status.battery_full_charging:
msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING
elif status.battery_full_charging:
msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL
msg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LION
return msg
GAIN = 1
voltage = 0.0
while not rospy.is_shutdown():
""" message header """
# for header time stamps
current_time = rospy.Time.now()
h = rospy.Header()
h.stamp = current_time
h.frame_id = frame_id # "battery"
h.seq = seq
# increase sequence
seq = seq + 1
# add header to IMU message
battery_msg.header = h
# run some parts only on the real robot
if hostname == 'minibot':
# read AD converter (battery voltage)
# use channel 0 on IC
value = adc.read_adc(0, gain=GAIN)
# 13.44 Volt battery voltage resulted in 2,94 Volt on the ADC channel with my circuit (voltage divider w/ two resistors (39k + 11k)).
# This resulted in a ADC 'value' of 1465.
# The conversion factor for the battery voltage is then: 1465 / 13.44 = 109.00297619047619
#
voltage = (value / 109.00297619047619)
else:
# simulated value!
voltage = demoVoltage
