Overview

Purpose

The energy service uses the INA226 current sensor to measure current draw (amps), power consumption (watts), and supply voltage.

info

This service requires an extra sensor that does not come preinstalled with every Rover. See the requirements section.

Installation

To install this service, the latest release of roverctl should be installed for your system and your Rover should be powered on.

Using roverctl

1. Install the service from your terminal

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl service install -r <ROVER_NUMBER> https://github.com/VU-ASE/energy/releases/latest/download/energy.zip 

Using roverctl-web

1. Open roverctl-web for your Rover

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl -r <ROVER_NUMBER>

2. Click on "install a service" button on the bottom left, and click "install from URL"
3. Enter the URL of the latest release:

https://github.com/VU-ASE/energy/releases/latest/download/energy.zip 

Follow this tutorial to understand how to use an ASE service. You can find more useful roverctl commands here

Requirements

• An INA226 current sensor must be mounted to the Rover over I2C. The sensor's shunt resistor must be connected at the battery's connection terminals.

Inputs

As defined in the service.yaml, this service does not depend on any other service.

Outputs

As defined in the service.yaml, this service exposes the following write streams:

• energy:
  • To this stream, EnergySensorOutput messages will be written. Each message will be wrapped in a SensorOutput wrapper message