PowerSrcID Namespace Reference
holds source ID types for power events; see EventBase, see PowerSourceID_t
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Enumerations |
| enum | PowerSourceID_t {
PauseSID = 0,
MotorPowerSID,
VibrationSID,
BatteryEmptySID,
LowPowerWarnSID,
BatteryFullSID,
ExternalPowerSID,
ExternalPortSID,
BatteryConnectSID,
BatteryInitSID,
DischargingSID,
ChargingSID,
OverheatingSID,
PowerGoodSID,
ChargerStatusSID,
SuspendedSID,
OverChargedSID,
TermDischargeSID,
TermChargeSID,
ErrorSID,
StationConnectSID,
BatteryOverCurrentSID,
DataFromStationSID,
RegisterUpdateSID,
RTCSID,
SpecialModeSID,
BMNDebugModeSID,
PlungerSID,
UpdatedSID,
NumPowerSIDs
} |
| | holds source ID types for power events
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Detailed Description
holds source ID types for power events; see EventBase, see PowerSourceID_t
Enumeration Type Documentation
holds source ID types for power events
Also serve as offsets into WorldState::powerFlags[].
I've never seen a lot of these events thrown by the OS. 'NS' means never-seen, which could simply be because i haven't put it in that situation (don't have a station-type power charger) or because the OS doesn't actually support sending that flag.
Under normal conditions, you'll see MotorPowerSID, BatteryConnectSID, DischargingSID, and PowerGoodSID always active with occasional VibrationSID and UpdateSID. When the chest button is pushed, PauseSID is activated and MotorPowerSID is deactivated.
The BatteryMonitorBehavior will give a warning once power begins getting low. The OS won't boot off a battery with less than 15% power remaining (which is when the LowPowerWarnSID is thrown)
- Note:
- there's not a one-to-one correspondance of the events from the OPENR power system... i map several OPENR events to fewer Tekkotsu events, check the event's name if you want to know the specific source (say if low battery is low current and/or low voltage) Status ETIDS are only generated when one of a related group goes on/off but others are still active
- Enumerator:
| PauseSID |
the chest button was pushed (this is not a normal button, it kills power to the motors in hardware)
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| MotorPowerSID |
active while the motors have power
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| VibrationSID |
triggered when the OS decides a large acceleration has occured, like falling down (or more specifically, hitting the ground afterward)
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| BatteryEmptySID |
battery is dead
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| LowPowerWarnSID |
triggered when sensors[PowerRemainOffset] <= 0.15 (PowerGoodSID stays on)
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| BatteryFullSID |
battery is full
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| ExternalPowerSID |
receiving power from an external source (such as AC cable, may or may not include the "station", see StationConnectSID)
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| ExternalPortSID |
an external power source is plugged in (does not imply current is flowing however)
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| BatteryConnectSID |
a battery is plugged in
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| BatteryInitSID |
? NS
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| DischargingSID |
using power from the battery (although still stays on after hooked up to external power)
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| ChargingSID |
you used to be able to charge while running, tho that has changed in more recent versions of OPEN-R. In any case, I never saw this even when it did work.
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| OverheatingSID |
in case the robot starts getting too hot NS
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| PowerGoodSID |
there is power, either from external or battery
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| ChargerStatusSID |
? NS
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| SuspendedSID |
? NS
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| OverChargedSID |
in case the charger screws up somehow (?) NS
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| TermDischargeSID |
end of battery (?) NS
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| TermChargeSID |
end of charging (?) NS
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| ErrorSID |
general power error NS
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| StationConnectSID |
connected to a station NS
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| BatteryOverCurrentSID |
similar to OverChargedSID (?) NS
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| DataFromStationSID |
? NS
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| RegisterUpdateSID |
? NS
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| RTCSID |
? NS
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| SpecialModeSID |
? NS
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| BMNDebugModeSID |
? NS
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| PlungerSID |
I think this is in reference to having a memorystick (?) NS.
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| UpdatedSID |
sent as last event after processing a frame
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| NumPowerSIDs |
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Definition at line 63 of file WorldState.h.
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