Fmarta/fixbattery

[fincatomarta]

In this PR, I have made changes to three files:

The yarprobotinterface now starts with the battery enabled.

The left arm roll calibration has been correctly set.

Battery settings have been updated to enable publishing the charge percentage.

[gemini-code-assist]

Summary of Changes

Hello @fincatomarta, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request focuses on refining the robot's configuration for both its battery system and left arm calibration. The primary goal is to ensure the battery is active upon startup, correct a specific calibration value for the left arm's roll joint, and update the battery's hardware settings to facilitate the reporting of its charge percentage. These changes collectively aim to improve the robot's operational readiness and monitoring capabilities.

Highlights

• Battery System Enabled: The yarprobotinterface configuration has been updated to explicitly enable the battery system by default, removing the previous disable_battery tag.
• Left Arm Calibration Corrected: The calibrationZero parameter for the left arm's roll joint in left_arm-calib.xml has been adjusted, specifically changing a value from -15 to 0 to ensure correct calibration.
• Battery Hardware Configuration Update: The r1battery.xml file has been updated to reflect a new firmware version (minor 3, build 0) and a change in the battery sensor's CAN bus location from CAN1:1 to CAN2:2. This update is intended to support publishing the battery charge percentage.

Using Gemini Code Assist

The full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips.

Invoking Gemini

You can request assistance from Gemini at any point by creating a comment using either /gemini <command> or @gemini-code-assist <command>. Below is a summary of the supported commands on the current page.

Feature	Command	Description
Code Review	/gemini review	Performs a code review for the current pull request in its current state.
Pull Request Summary	/gemini summary	Provides a summary of the current pull request in its current state.
Comment	@gemini-code-assist	Responds in comments when explicitly tagged, both in pull request comments and review comments.
Help	/gemini help	Displays a list of available commands.

Customization

To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a .gemini/ folder in the base of the repository. Detailed instructions can be found here.

Limitations & Feedback

Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here.

You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension.

Footnotes

1. Review the Privacy Notices, Generative AI Prohibited Use Policy, Terms of Service, and learn how to configure Gemini Code Assist in GitHub here. Gemini can make mistakes, so double check it and use code with caution. ↩

[gemini-code-assist]

Code Review

This pull request introduces configuration changes across three files. The battery is now enabled by default in yarprobotinterface.ini, a calibration value for the left arm roll has been corrected, and the battery hardware settings in r1battery.xml have been updated, including the firmware version and CAN bus location. The changes are straightforward, consistent with the description, and appear to be correct. I have not identified any issues requiring changes.

[pattacini]

Thanks @fincatomarta