Battery
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- Torque Feedback Controller Guide
- SC sends commands periodically specifying the (minimum) boost converter output voltage.
- boost converter is not normally active or switching
- SC command for emergency shut off, not re-enabled until re-insertion.
- battery terminals are not normally live. thus impossible to externally short.
- external power enabled when battery inserted into robot.
- micro power hall sensor senses a magnet and enables BAF
- high impedance source that is 'shorted' when connected to robot and enables BAF
- BAF 'soft starts' robot - avoiding inrush current
- low voltage (and fuel gauge) shutoff - voltage of each cell is indepentically monitored.
- impedance tracking of each cell?
- fuel gauge : micropower current sensor that integrates charge/discharge of battery.
- electronic fuse : SC sends commands periodically that specify the maximum amount of current and/or power allowed.
- internal charger and balancer PDF
- inductive charging.
- believe a MSP430 micro should be employed. lowest possible power
- has ADCs, however, *might* not be accurate enough to monitor cell voltages (15V/4096 = 4mV) - may require external 16 bit ADC, or opamp conditioning
