Add support of the new power-board hardware #15
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| // 4. Create the calibrator procedure. | ||
| // 4. Create the powerboard | ||
| std::shared_ptr<Powerboard> powerboard = | ||
| std::make_shared<Powerboard>(robot_if); |
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This by default creates a power board. Does this make sense or should there be a flag in the yaml file to indicated if the powerboard is available on a robot or not?
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At the moment, the MasterBoard protocol will include all the fields even if a power board is not present. If so the values will read 0.
This is the same with the IMU.
We could in the future have the MasterBoard to auto detect the presence of IMU, PowerBoard and number of uDrivers. According to this, the network packets could be lighten. An expected hardware description via flags in the yaml could then allow to generate an error if some components are missing.
I think this is out of the scope if this PR, and the proposed implementation is coherent with IMU.
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Makes sense, thanks for the clearification.
About the master board SDK: Do we need to reflash all our master boards once the software changes to the SDK land that include the power board, even the ones that do not use a power board to get the zero values?
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Yes, all master boards will need to be updated together with the sdk.
My advice would be to flash your master board with open-dynamic-robot-initiative/master-board#107 as it's solves old issue we have.
Description
This PR add a PowerBoard class to handle the new powerboard hardware. It offers a way to retrieve data from the powerboard exposed by the masterboard (current, voltage, energy) through odri control interface.
How I Tested
It was successfully tested with our Solo 12 equipped with a powerboard and I was able to retrieve energy consumption data from my control script.
Do not merge before
The PR to support the powerboard with the masterboard SDK should be merged first, and the masterboard flashed with the updated version of the code.
I fulfilled the following requirements