Battery Charging in C

[clusher]

Hey all.

I've been told that the example.c provided with Bioloid as quite a few mistakes, so after learning a bit about the programming and the registers and all, I decided to make my own C program, without influences of the example.c

The thing is, I can't find how to connect or disconnect the charging circuit in the manuals... After searching the forum I found this: http://robosavvy.com/forum/viewtopic.php?t=1783

So to disconnect the charging circuit, all I have to do is put the PORTB5 bit high and to charge set it to low?

I've been using the Bioloid in AC Power, if I disconnect the charging circuit it won't cut the power to CM-5 or to AX-12, will it?

[StuartL]

Not at all, no. Setting PORTB5 high is a GOOD plan unless you can come up with a charging algorithm that with 20mV ADC sensitivity can accurately detect end of charge on a NiMH battery pack. I couldn't get this to work properly and set fire to a battery pack trying.

Now the charging circuit is disconnected (unsoldered the big diode) and the power comes from a LiPo I charge externally with a CellPro 4S.