8.13 Battery Status and Power Acquisition

1. Battery Status

• Description: Get battery status information. The reporting frequency is 1Hz, applicable to all Tienkung Walker series.
• Charging Status: master_battery_current field, negative value indicates discharging, positive value indicates charging.
• Control Method: topic
• Topic Name: /power/battery/status
• Type: bodyctrl_msgs::msg::PowerBatteryStatus.msg
• Data Format:

  # @brief Power board voltage, current, power, temperature and other information
  
  std_msgs/Header header
  
  # battery status information
  int32 battery_installed  # 0x00 none, 0x01 small battery exists, 0x02 large battery exists, 0x03 both batteries exist
  int32 battery_working    # 0x01 large battery, 0x10 small battery
  
  float32 master_battery_voltage # battery voltage information
  float32 master_battery_current # battery current information
  float32 master_battery_power   # battery power
  
  float32 little_battery_voltage # small battery voltage information
  float32 little_battery_current # small battery current information
  float32 little_battery_power   # small battery power
  
  int8 pg12a # 00 low, 01 high
  int8 pg12b # 00 low, 01 high
  int8 pg12c # 00 low, 01 high
  int8 pg12d # 00 low, 01 high
  int8 pg5cd # 00 low, 01 high
  int8 pg5ab # 00 low, 01 high
  
  int8 pgrdc2    # 00 low, 01 high
  int8 pgrdc1    # 00 low, 01 high
  int8 pgheader   # 00 low, 01 high
  int8 pgbutton2 # 00 low, 01 high

2. Power Board Status

• Description: Get power board status information. The reporting frequency is 1Hz, applicable to all Tienkung Walker series.
• Control Method: topic
• Topic Name: /power/board/status
• Type: bodyctrl_msgs::msg::PowerStatus.msg
• Data Format:

  # @brief Power board voltage, current, power, temperature and other information
  
  std_msgs/Header header
  
  # temperature information
  float32 waist_temp # waist MOS temperature
  float32 arm_a_temp # arm A MOS temperature
  float32 arm_b_temp # arm B MOS temperature
  float32 leg_a_temp # leg A MOS temperature
  float32 leg_b_temp # leg B MOS temperature
  
  float32 waist_temp_max # maximum waist MOS temperature
  float32 arm_a_temp_max # maximum arm A MOS temperature
  float32 arm_b_temp_max # maximum arm B MOS temperature
  float32 leg_a_temp_max # maximum leg A MOS temperature
  float32 leg_b_temp_max # maximum leg B MOS temperature
  
  float32 waist_temp_min # minimum waist MOS temperature
  float32 arm_a_temp_min # minimum arm A MOS temperature
  float32 arm_b_temp_min # minimum arm B MOS temperature
  float32 leg_a_temp_min # minimum leg A MOS temperature
  float32 leg_b_temp_min # minimum leg B MOS temperature
  
  # current information
  float32 arm_a_curr # arm A current
  float32 arm_b_curr # arm B current
  float32 leg_a_curr # leg A current
  float32 leg_b_curr # leg B current
  float32 waist_curr # waist current
  float32 head_curr  # head current
  
  float32 arm_a_curr_max # maximum arm A current
  float32 arm_b_curr_max # maximum arm B current
  float32 leg_a_curr_max # maximum leg A current
  float32 leg_b_curr_max # maximum leg B current
  float32 waist_curr_max # maximum waist current
  float32 head_curr_max  # maximum head current
  
  float32 arm_a_curr_min # minimum arm A current
  float32 arm_b_curr_min # minimum arm B current
  float32 leg_a_curr_min # minimum leg A current
  float32 leg_b_curr_min # minimum leg B current
  float32 waist_curr_min # minimum waist current
  float32 head_curr_min  # minimum head current
  
  float32 arm_a_volt # arm A voltage
  float32 arm_b_volt # arm B voltage
  float32 leg_a_volt # leg A voltage
  float32 leg_b_volt # leg B voltage
  float32 waist_volt # waist voltage
  float32 bus_volt   # bus voltage
  
  float32 arm_a_volt_max # maximum arm A voltage
  float32 arm_b_volt_max # maximum arm B voltage
  float32 leg_a_volt_max # maximum leg A voltage
  float32 leg_b_volt_max # maximum leg B voltage
  float32 waist_volt_max # maximum waist voltage
  float32 bus_volt_max # maximum bus voltage
  
  float32 arm_a_volt_min # minimum arm A voltage
  float32 arm_b_volt_min # minimum arm B voltage
  float32 leg_a_volt_min # minimum leg A voltage
  float32 leg_b_volt_min # minimum leg B voltage
  float32 waist_volt_min # minimum waist voltage
  float32 bus_volt_min # minimum bus voltage
  
  # version information
  string software_version # software version
  string hardware_version # hardware version
  
  # battery status information
  float32 battery_voltage # battery voltage information
  float32 battery_current # battery current information
  float32 battery_power   # battery power

3. Emergency Stop Button Status

• Description: Get emergency stop button status information. The reporting frequency is 1Hz, applicable to all Tienkung Walker series.

• Control Method: topic

• Topic Name: /power/board/key_status

• Type: bodyctrl_msgs::msg::PowerBoardKeyStatus.msg

• Data Format:

  # @brief Power board key status
  
  std_msgs/Header header
  
  # power board status
  uint32 work_time               # working time
  std_msgs/Bool is_estop         # whether emergency stop is pressed
  std_msgs/Bool is_remote_estop  # whether remote emergency stop is pressed
  std_msgs/Bool is_power_on      # whether power is normally supplied