We have a Clearpath Husky A200 with an SLA Battery.
The State of Charge indicator is clearly made for a Lithium-ion battery and shows only half full even when connecting a fully charged SLA Battery.
Also, after a short amount of Time, it shows an empty battery.
We would like to change this and also make some other changes to the MCU, like adding a remote emergency stop via the ROS Topic (This would work if the MCU wouldn’t always overwrite it).
Is there a possibility to get the code of the MCU to modify it?
Dear @Felix1,
The State of Charge indicator is clearly made for a Lithium-ion battery and shows only half full even when connecting a fully charged SLA Battery.
Also, after a short amount of Time, it shows an empty battery.
Yes, this is a known issue from Clearpath. The battery voltage topic may be checked to get the current status of the battery.
We would like to change this and also make some other changes to the MCU, like adding a remote emergency stop via the ROS Topic (This would work if the MCU wouldn’t always overwrite it).
Is there a possibility to get the code of the MCU to modify it?
You may use the twist_mux package to overwrite and add soft emergency switch. If I recall correctly it should be there by default in Noetic. As for low-level access of the MCU software, it is not provided as it is proprietary. You can check Clearpaths Repository, however, you will only find the binary firmware. An option would be to request from Clearpath support, however, it is unlikely that the firmware would be provided.
Regards,
S. O . Sohail