<<PackageHeader(m4atx_battery_monitor)>>
<<TOC(4)>>

== About ==
The `m4atx_battery_monitor` package will read the information from a m4atx battery supply and publish it as a ros message.

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = m4atx_battery_monitor_node
  desc = `m4atx_battery_monitor_node` will read in the information from the m4atx and publish the information.
  pub {
    0.name = battery_status_m4atx
    0.type = 'm4atx_batter_monitor/PowerReading'
    0.desc = publishes the Power information
  }
  param {
    0.name = ~diag_frequency
    0.type = `double`
    0.default = 1.0
    0.desc = the frequency at which to poll the power supply
    1.name = ~input_nominal
    1.type = `double`
    1.default = 13.8
    1.desc = the nominal voltage when the battery supply is fully charged
    2.name = ~battery_dead_voltage
    2.type = `double`
    2.default = 10.5
    2.desc = the voltage at which the battery is considered dead (at a 0% charge)
  }
}   
}}}

== Permissions ==
A startup script is provided which will perform the following commands.
{{{
lsusb 
}}}
Locate the bus and device number of the device called "MicroChip Technology, Inc.".
{{{
sudo chmod a+rw /dev/bus/usb/<bus_num>/<device_num>
}}}
Where the bus_num and device_num were found above using lsusb.

== Installation ==
To install the `m4atx_battery_monitor` package, you can choose to either install from source, or from the Ubuntu package:

=== Source ===
To install from source, execute the following: 
 {{{#!shell
cd /path/to/your/catkin/workspace/src
git clone https://github.com/WPI-RAIL/m4atx_battery_monitor.git
cd /path/to/your/catkin/workspace
catkin_make 
catkin_make install
}}}

=== Ubuntu Package ===
To install the Ubuntu package, execute the following: 
  {{{
sudo apt-get install ros-indigo-m4atx-battery-monitor
}}}

=== Startup ===
The `ros_ethernet_rmp` package contains a `m4atx-battery-monitor.launch` file. This file launches an instance of the `m4atx_battery_monitor_node`. To launch these nodes the following command can be used:

 {{{
roslaunch m4atx_battery_monitor_node m4atx_battery_monitor_node.launch 
}}}

Now the node will publish the information as well as use espeak to inform the user of a state of charge less than or equal to 20%.

== Support ==
Please send bug reports to the [[https://github.com/WPI-RAIL/rovio/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments. 

 * [[Russell Toris|Russell Toris]]
  * [[mailto:rctoris@wpi.edu|rctoris@wpi.edu]]
  * [[http://users.wpi.edu/~rctoris/|Academic Website]]


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