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Add battery voltage read #44

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Add battery voltage read #44

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3 changes: 3 additions & 0 deletions include/robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,11 +51,14 @@
#define XRP_DATA_AIO 0x04
#define XRP_DATA_GENERAL 0x08

#define XRP_VIN_MEAS 28

namespace xrp {

void robotInit();
bool robotInitialized();
uint8_t robotPeriodic();
float getVinMeasured();

// Robot control
void robotSetEnabled(bool enabled);
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1 change: 1 addition & 0 deletions src/main.cpp
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Expand Up @@ -162,6 +162,7 @@ void sendData() {
if (xrp::rangefinderInitialized()) {
ptr += wpilibudp::writeAnalogData(2, xrp::getRangefinderDistance5V(), buffer, ptr);
}
ptr += wpilibudp::writeAnalogData(3, xrp::getVinMeasured(), buffer, ptr);

// ptr should now point to 1 past the last byte
size = ptr;
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7 changes: 7 additions & 0 deletions src/robot.cpp
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Expand Up @@ -327,6 +327,13 @@ float getReflectanceRight5V() {
return _readAnalogPinScaled(REFLECT_RIGHT_PIN) * 5.0f;
}

float getVinMeasured() {
//ADC reads are 3.3V max
//R1 = 100k, R2 = 33k, voltage divider = R2/(R1+R2)
//reading * Vadc_max / volt divider
return _readAnalogPinScaled(XRP_VIN_MEAS) * 3.3f / (33.f/(100.f+33.f));
}

void rangefinderInit() {
pinMode(ULTRASONIC_TRIG_PIN, OUTPUT); // Trigger Pin
digitalWrite(ULTRASONIC_TRIG_PIN, LOW);
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