Hello everyone,
I am currently developing my thesis, which involves using the Unitree AlienGo. For my project, I need to dive deeper into the battery management system (BMS) and have a few specific technical questions that I haven’t been able to resolve using the official documentation.
My questions are as follows:
- Battery Connector Pinout: Could anyone please share or point me to the detailed pinout for the main battery connector? I would like to understand the function of each pin beyond the main power terminals.
- Communication Port (COM): Does the battery itself feature a dedicated communication port (such as UART, I2C, or CAN) for diagnostic purposes? If so, what is its location and how can it be accessed?
- Programmatic Access to State of Charge (SoC): I have noticed that the external LEDs provide a visual estimate of the battery level, but for my research, I require precise, real-time SoC data. Is there a method to access this information programmatically, either through the Unitree SDK, a specific ROS topic, or another interface? My goal is to monitor the battery level remotely and accurately.
Any help, documentation links, or pointers in the right direction would be greatly appreciated.
PS. BATTERY MODEL IS AL01-BT02
Thank you for your time and expertise.