Add support for new estops + up the min voltage for battery warnings (#…

…2925) * estop * up min battery voltage * 22.6 is above nominal
UBC-Thunderbots · Jun 10, 2023 · adb7085 · adb7085
1 parent 13838a4
commit adb7085
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/src/shared/constants.h b/src/shared/constants.h
@@ -114,7 +114,7 @@ static const unsigned int MAX_ROBOT_IDS = MAX_ROBOT_IDS_PER_SIDE * 2;
 static const unsigned NUM_CELLS_IN_BATTERY    = 3;
 static const unsigned NUM_BATTERIES_IN_SERIES = 2;
 static const double MAX_SINGLE_CELL_VOLTAGE   = 4.2;
-static const double MIN_SINGLE_CELL_VOLTAGE   = 3.2 + 0.1;  // +0.1v headroom
+static const double MIN_SINGLE_CELL_VOLTAGE   = 3.5 + 0.1;  // +0.1v headroom
 
 static const double MIN_BATTERY_VOLTAGE =
     MIN_SINGLE_CELL_VOLTAGE * NUM_CELLS_IN_BATTERY * NUM_BATTERIES_IN_SERIES;

diff --git a/src/software/thunderscope/robot_communication.py b/src/software/thunderscope/robot_communication.py
@@ -19,7 +19,7 @@ def __init__(
         multicast_channel,
         interface,
         disable_estop,
-        estop_path="/dev/ttyACM0",
+        estop_path,
         estop_buadrate=115200,
     ):
         """Initialize the communication with the robots

diff --git a/src/software/thunderscope/thunderscope_main.py b/src/software/thunderscope/thunderscope_main.py
@@ -257,11 +257,17 @@
         # else, it will be the diagnostics proto
         current_proto_unix_io = tscope.proto_unix_io_map[ProtoUnixIOTypes.CURRENT]
 
+        # different estops use different ports this detects which one to use based on what is plugged in
+        estop_path = (
+            "/dev/ttyACM0" if os.path.isfile("/dev/ttyACM0") else "/dev/ttyUSB0"
+        )
+
         with RobotCommunication(
             current_proto_unix_io,
             getRobotMulticastChannel(0),
             args.interface,
             args.disable_estop,
+            estop_path,
         ) as robot_communication:
             if args.run_diagnostics:
                 for tab in tscope_config.tabs: