X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=4a6af7b9f954989b8fa14c38422ce620addd9395;hp=8589156bcf517d75aabea58ac16f5e33f62d3ec4;hb=cba57a46f758cff1cb49df0b337eac82ab4453f3;hpb=a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 8589156..4a6af7b 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -219,11 +219,13 @@ class WTBase:
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
 
+		current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
+
 		if self.pub_battery.get_num_connections() > 0:
 			batmsg = BatteryState()
 			batmsg.header.stamp = rospy.Time.now()
 			batmsg.voltage = volt
-			batmsg.current = float('nan')
+			batmsg.current = current
 			batmsg.charge = float('nan')
 			batmsg.capacity = float('nan')
 			batmsg.design_capacity = 5.0