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feat(jetson): Battery management system — monitoring, alerts, low-battery behavior #125

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opened 2026-03-02 09:09:34 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:09:34 -05:00
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Summary

Battery monitoring and management with safety behaviors.

Requirements

  • Voltage monitoring: Read battery voltage from STM32 telemetry, compute SoC (state of charge)
  • Cell monitoring: Per-cell voltage if available (3S/4S LiPo), detect imbalance
  • Alerts: ROS2 diagnostics for low battery (<20%), critical (<10%), shutdown (<5%)
  • Low-battery behavior: At 10% — reduce max speed, flash LEDs warning. At 5% — safe stop, park robot
  • Charging detection: Detect when battery is being charged, inhibit motor commands
  • History logging: Log voltage/current/SoC to SQLite for battery health tracking
  • ROS2 topics: /saltybot/battery (BatteryState msg), /saltybot/battery/history
  • Dashboard integration: Publish data compatible with social-bot web dashboard

Agent: sl-jetson

Labels: phase-2, power

## Summary Battery monitoring and management with safety behaviors. ## Requirements - **Voltage monitoring**: Read battery voltage from STM32 telemetry, compute SoC (state of charge) - **Cell monitoring**: Per-cell voltage if available (3S/4S LiPo), detect imbalance - **Alerts**: ROS2 diagnostics for low battery (<20%), critical (<10%), shutdown (<5%) - **Low-battery behavior**: At 10% — reduce max speed, flash LEDs warning. At 5% — safe stop, park robot - **Charging detection**: Detect when battery is being charged, inhibit motor commands - **History logging**: Log voltage/current/SoC to SQLite for battery health tracking - **ROS2 topics**: /saltybot/battery (BatteryState msg), /saltybot/battery/history - **Dashboard integration**: Publish data compatible with social-bot web dashboard ## Agent: sl-jetson ## Labels: phase-2, power
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#125
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