some unusefull stuff deleted and readme file done (hope it's ok)

vortexntnu · Nov 5, 2023 · 33f564c · 33f564c
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diff --git a/mission/internal_status/README.md b/mission/internal_status/README.md
@@ -0,0 +1,22 @@
+# Internal Status 
+
+This package contains a library which allows us to get current and voltage values from the Power Sense Module (PSM), and a ros node which publishes this data to the whole ROS environment.
+
+## PSM lib
+
+The ASV as a PSM. It takes voltage and current data going into internal electrical instruments on board. This library is a driver, which allows us to get the voltage (in V) and current (in A) values from PSM through I2C.
+The I2C address is 0X69.
+* Typical values for voltage: around 21V
+* Typical values for current: around 0.6A
+
+
+## PSM node
+
+This ros node just publishes the current and voltage data we get from the lib to the entire ROS environment.
+### Publishes to 
+* /asv/power_sense_module/current for the current data [A]
+* /asv/power_sense_module/voltage for the voltage data [V]
+
+
+
+
diff --git a/mission/internal_status/internal_status/power_sense_module_lib.py b/mission/internal_status/internal_status/power_sense_module_lib.py
@@ -19,7 +19,7 @@ def __init__(self):
                                        self.i2c_adress,
                                        channel=0,
                                        resolution=18)  # current   
-        #time.sleep(1)
+
 
         # Convertion ratios taken from PSM datasheet at: https://bluerobotics.com/store/comm-control-power/control/psm-asm-r2-rp/
         self.psm_to_battery_voltage = 11.0  # V/V

diff --git a/mission/internal_status/internal_status/power_sense_module_publisher.py b/mission/internal_status/internal_status/power_sense_module_publisher.py
@@ -14,7 +14,7 @@ def __init__(self):
         self.publisher_voltage = self.create_publisher(Float32, '/asv/power_sense_module/voltage', 1)
         timer_period = 0.5
         self.timer = self.create_timer(timer_period, self.timer_callback)
-        self.i = 0
+
 
     def timer_callback(self):
         current = Float32()
@@ -26,7 +26,6 @@ def timer_callback(self):
         self.get_logger().info('Publishing PSM current: "%s"' % current.data)
         self.publisher_voltage.publish(voltage)  #publish voltage value to the "voltge topic"
         self.get_logger().info('Publishing PSM voltage: "%s"' % voltage.data)
-        self.i += 1
 
 
 def main(args=None):