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Add HE2410 & HE2411 battery support (#119) #121

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merged 1 commit into from
Jan 14, 2025
Merged

Add HE2410 & HE2411 battery support (#119) #121

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36 changes: 36 additions & 0 deletions clearpath_hardware_interfaces/clearpath_hardware_interfaces/battery_state/battery.py
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Original file line number Diff line number Diff line change
Expand Up @@ -258,6 +258,40 @@ class HE2613(LiION):
[29.40, 1.0],
]

class HE2411(LiION):
CAPACITY = 11.6
VOLTAGE = 25.3
LUT = [
[21.00, 0.0],
[21.84, 0.1],
[22.68, 0.2],
[23.52, 0.3],
[24.36, 0.4],
[25.20, 0.5],
[26.04, 0.6],
[26.88, 0.7],
[27.72, 0.8],
[28.56, 0.9],
[29.40, 1.0],
]

class HE2410(LiION):
CAPACITY = 9.8
VOLTAGE = 25.3
LUT = [
[21.00, 0.0],
[21.84, 0.1],
[22.68, 0.2],
[23.52, 0.3],
[24.36, 0.4],
[25.20, 0.5],
[26.04, 0.6],
[26.88, 0.7],
[27.72, 0.8],
[28.56, 0.9],
[29.40, 1.0],
]

class ES20_12C(SLA):
CAPACITY = 20.0
VOLTAGE = 12.0
Expand Down Expand Up @@ -309,6 +343,8 @@ class DTM8A31(SLA):
# Match battery name to class
BATTERIES = {
BatteryConfig.HE2613: HE2613,
BatteryConfig.HE2411: HE2411,
BatteryConfig.HE2410: HE2410,
BatteryConfig.ES20_12C: ES20_12C,
BatteryConfig.U1_35: U1_35,
BatteryConfig.TLV1222: TLV1222,
Expand Down
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