Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system

This repository contains files created for my bachelor's thesis.

• In robotont-electronics-mainboard there is electronic schemes for voltage and current measuring.

• In robotont-firmware there is code for I²C slave receiver and converting measurements into right units. Code is in src/svc/measurements.c and src/mcu/i2cif.c. Both files have .h files also.

• In robotont-firmware-power-management repository is the firmware for power management controller ATtiny88. It is in file robotont-firmware-power-management.ino.

• In robotont_driver repository is the plugin for ROS2 based modular driver, that fills up BatteryState variables with incoming data. The code is in file src/plugin_bat_state.cpp.