Allow to safely drain batteries with the robots #95
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emielsteerneman
approved these changes
Aug 22, 2023
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Draining batteries with the LiPo charger is painstakingly slow, however with a robot it goes quite fast. This feature should allow the robot to quite safely drain a battery.
It works by just making the wheels spin at 30 rad/s (higher speeds are possible, but I don't think that it is a great idea to have utilizing full throttle for a longer period of time). As a safety feature, the robot checks that it is not physically rotating any faster than 0.3 rad/s. If this does happen, it will immediately halt itself.