Merge pull request #57 from systemetric/battery-changes

Change in how the voltage is displayed with new zenners.

Author: OldUser101

robot/greengiant.py

@@ -251,7 +251,7 @@ def get_version(self):
 
     def get_battery_voltage(self):
         # both GG and PiLow use a 1/3 divider and a 4.096v reference giving a max readable voltage of ~12.3v
-        return read_high_low_data(self._bus, _GG_BATTERY_V_H) * _GG_BATTERY_MAX_READING / _GG_BATTERY_ADC_MAX
+        return read_high_low_data(self._bus, _GG_BATTERY_V_H)
 
     def get_fvr_reading(self):
         """Return the fixed voltage reading. The number read here is sampling the 4.096v reference using the VCC rail (GG only)

robot/wrapper.py

@@ -34,6 +34,7 @@ class to their respecitve classes
 # this boot cycle. This is to highlight weird behaviour in the arena
 COPY_STAT_FILE = "/tmp/usb_file_uploaded"
 
+V_ZEN = (10.1)
 
 def setup_logging(level):
     """Display the just the message when logging events
@@ -166,14 +167,14 @@ def report_hardware_status(self):
         """Print out a nice log message at the start of each robot init with
         the hardware status"""
 
-        battery_voltage = self._green_giant.get_battery_voltage()
+        battery_voltage = ((self._green_giant.get_battery_voltage() / 65535) * 4.096) + V_ZEN
         battery_str = "Battery Voltage: %.2fv" % battery_voltage
         # GG cannot read voltages above 12.2v
-        if battery_voltage > 12.2:
-            battery_str = "Battery Voltage: > 12.2v"
-        if battery_voltage < 11.5:
-            self._warnings.append("Battery voltage below 11.5v, consider "
-                                  "changing for a charged battery")
+        #if battery_voltage > 12.2:
+        #   battery_str = "Battery Voltage: > 12.2v"
+        # if battery_voltage < 11.5:
+        #   self._warnings.append("Battery voltage below 11.5v, consider "
+        #                          "changing for a charged battery")
 
         if self._gg_version < 3:
             self._warnings.append(