feat: added mow motor current to the monitoring (#27)

* Update monitoring.cpp added mower amps in monitoring * Update monitoring.cpp added comment to see if the runner will trigger * Update monitoring.cpp removed // to force build * Update monitoring.cpp * Update monitoring.cpp * Update monitoring.cpp Added mow motor current to the sensor monitoring
ClemensElflein · May 6, 2023 · f84f948 · f84f948
1 parent 8df3b38
commit f84f948
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/src/mower_logic/src/monitoring/monitoring.cpp b/src/mower_logic/src/monitoring/monitoring.cpp
@@ -54,6 +54,10 @@ xbot_msgs::SensorInfo si_mow_motor_temp;
 ros::Publisher si_mow_motor_temp_pub;
 ros::Publisher mow_motor_temp_data_pub;
 
+xbot_msgs::SensorInfo si_mow_motor_current;
+ros::Publisher si_mow_motor_current_pub;
+ros::Publisher mow_motor_current_data_pub;
+
 ros::NodeHandle *n;
 
 ros::Time last_status_update(0);
@@ -87,6 +91,10 @@ void status(const mower_msgs::Status::ConstPtr &msg) {
 
     sensor_data.data = msg->mow_esc_status.temperature_motor;
     mow_motor_temp_data_pub.publish(sensor_data);
+
+    sensor_data.data = msg->mow_esc_status.current;
+    mow_motor_current_data_pub.publish(sensor_data);
+
 }
 
 void high_level_status(const mower_msgs::HighLevelStatus::ConstPtr &msg) {
@@ -167,6 +175,16 @@ void registerSensors() {
     si_mow_motor_temp_pub = n->advertise<xbot_msgs::SensorInfo>("xbot_monitoring/sensors/" + si_mow_motor_temp.sensor_id + "/info", 1, true);
     mow_motor_temp_data_pub = n->advertise<xbot_msgs::SensorDataDouble>("xbot_monitoring/sensors/" + si_mow_motor_temp.sensor_id + "/data",10);
     si_mow_motor_temp_pub.publish(si_mow_motor_temp);
+
+    si_mow_motor_current.sensor_id = "om_mow_motor_current";
+    si_mow_motor_current.sensor_name = "Mow Motor Current";
+    si_mow_motor_current.value_type = xbot_msgs::SensorInfo::TYPE_DOUBLE;
+    si_mow_motor_current.value_description = xbot_msgs::SensorInfo::VALUE_DESCRIPTION_CURRENT;
+    si_mow_motor_current.unit = "A";
+    si_mow_motor_current_pub = n->advertise<xbot_msgs::SensorInfo>("xbot_monitoring/sensors/" + si_mow_motor_current.sensor_id + "/info", 1, true);
+    mow_motor_current_data_pub = n->advertise<xbot_msgs::SensorDataDouble>("xbot_monitoring/sensors/" + si_mow_motor_current.sensor_id + "/data",10);
+    si_mow_motor_current_pub.publish(si_mow_motor_current);
+
 
 }