[Personalrobots-commit] SF.net SVN: personalrobots:[5233] pkg/trunk

[<tf...@us...>]

Revision: 5233
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5233&view=rev
Author:   tfoote
Date:     2008-10-10 17:38:06 +0000 (Fri, 10 Oct 2008)

Log Message:
-----------
adding full capacity to battery message, and populating it

Modified Paths:
--------------
    pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/monitorBatteries
    pkg/trunk/robot_msgs/msg/BatteryState.msg

Modified: pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/monitorBatteries
===================================================================
--- pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/monitorBatteries	2008-10-10 17:36:06 UTC (rev 5232)
+++ pkg/trunk/drivers/robot/pr2/IBPSBatteryInterface/monitorBatteries	2008-10-10 17:38:06 UTC (rev 5233)
@@ -282,12 +282,13 @@
                 full_energy = full_energy + b.design_voltage * b.full_charge_capacity * 3.6 ## assuming mAh capacity
                 power = power + b.design_voltage * b.current ## assuming mAh capacity
 
+## \todo remove now redundent
         if self.full_charge_energy != full_energy:
             self.full_charge_energy = full_energy
             rospy.set_param("full_charge_energy", full_energy)
 
-        out = BatteryState(None, energy, power)
-        print "Sent Energy: %.0f (J)  Power: %.2f (W)\n"%(energy, power)
+        out = BatteryState(None, energy, full_energy, power)
+        print "Sent Energy: %.0f (J)  of %.0f (J) Power: %.2f (W)\n"%(energy, full_energy, power)
         self.battery_state_pub.publish(out)
 
 

Modified: pkg/trunk/robot_msgs/msg/BatteryState.msg
===================================================================
--- pkg/trunk/robot_msgs/msg/BatteryState.msg	2008-10-10 17:36:06 UTC (rev 5232)
+++ pkg/trunk/robot_msgs/msg/BatteryState.msg	2008-10-10 17:38:06 UTC (rev 5233)
@@ -1,3 +1,4 @@
 Header header
 float64 energy_remaining ## Joules
-float64 power_consumption ## Watts
\ No newline at end of file
+float64 energy_capacity ## Joules
+float64 power_consumption ## Watts


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