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31 lines
782 B
31 lines
782 B
function [Current] = CurrentTesterRoomba(serPort);
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%[Current] = CurrentTesterRoomba(serPort)
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% Displays the current (in amps) flowing into or out of Create's battery.
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% Negative currents indicate that current is flowing out of the battery.
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% Positive currents indicate that current is flowing into the battery.
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% By; Joel Esposito, US Naval Academy, 2011
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%Initialize preliminary return values
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Current = nan;
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try
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%Flush Buffer
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N = serPort.BytesAvailable();
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while(N~=0)
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fread(serPort,N);
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N = serPort.BytesAvailable();
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end
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warning off
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global td
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fwrite(serPort, [142]); fwrite(serPort,23);
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Current = fread(serPort, 1, 'int16')/1000;
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pause(td)
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catch
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disp('WARNING: function did not terminate correctly. Output may be unreliable.')
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end
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