Datasheet

5.1.1.1. Battery&Charger Management Algorithm
The Battery&Charger Management algorithm will deal with voltage measurement of the different
batteries and also the charging cable and perform the management of the charging of the batteries.
Figure 26 depicts the Battery&Charger Management algorithm.
The algorithm starts by performing an analog to digital reading of the voltage of all the batteries and
charging cable. Then it will check whether the robot is on the docking station by checking if the
charging cable has a value higher that 16V.
If the docking station is detected then the algorithm will check if the charging is on manual or
automatic charging mode.
Manual Mode - In this mode the navigation computer will fully control the Enable/Disable and charge
of each battery. This will allow the robot to reach the docking station and only charge the batteries that
are needed. It also prepares the robot to leave the docking station, by enabling all the electronic and
motor batteries.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 31
Figure 26: Battery&Charger Management Algorithm