ranger_base: updated RangerBase protocol for BMS and included excepti…

…on for RangerMiniV2Base
westonrobot · Oct 9, 2024 · 11ad48a · 11ad48a
1 parent a63adad
commit 11ad48a
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -97,7 +97,7 @@ class RangerBase : public AgilexBase<ProtocolV2Parser>, public RangerInterface {
 
     ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
     ranger_bms.bms_basic_state.voltage =
-        common_sensor.bms_basic_state.voltage;
+        common_sensor.bms_basic_state.voltage * 0.1f;
     ranger_bms.bms_basic_state.battery_soc =
         common_sensor.bms_basic_state.battery_soc;
     ranger_bms.bms_basic_state.battery_soh =
@@ -121,10 +121,9 @@ class RangerMiniV2Base : public RangerBase {
 
     ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
     // Note: BMS CAN message definition is not consistent across AgileX robots.
-    // Robots with steering mechanism should additionally divide the voltage by
-    // 10.
+    // RM2 BMS voltage data follows unit: 0.01V
     ranger_bms.bms_basic_state.voltage =
-        common_sensor.bms_basic_state.voltage * 0.1f;
+        common_sensor.bms_basic_state.voltage * 0.01f;
     ranger_bms.bms_basic_state.battery_soc =
         common_sensor.bms_basic_state.battery_soc;
     ranger_bms.bms_basic_state.battery_soh =