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    64d1788e
    The `InspiredEnergyMuxNode` has been tested with the... · 64d1788e
    Brady Conlon authored and Caileigh Fitzgerald's avatar Caileigh Fitzgerald committed 
    The `InspiredEnergyMuxNode` has been tested with the ![MCP2221A](https://www.adafruit.com/product/4471) board from Adafruit. The `MCP2221A` connects to the system running ROS via USB, then to the battery pack via i2c. This has been tested on Ubuntu 20.04LTS but may work in other similar contexts.

This driver was written for a system that has multiple Inspired Energy lithium batteries connected to `TCA9548A` i2c multiplexer (this is necessary because these battery packs have the same i2c address 0x70). The `TCA9548A` mux supports up to 4 channels e.g., 4 batteries. The `TCA9548A` mux is also the device we connect to the `MCP2221A` i2c bus. The current driver does not support alternative pins for an i2c bus, yet. The `TCA9548A` mux needs to be on the default `MCP2221A` i2c bus-- board.SDA, board.SCL).

It turns out this driver can be used for viewing the first battery pack in a daisy chained mux system. It is not well tested and should not be used in that case. A version of this driver that supports more channels and daisy chained mux's is in the works.
    64d1788e
    The `InspiredEnergyMuxNode` has been tested with the...
    Brady Conlon authored and Caileigh Fitzgerald's avatar Caileigh Fitzgerald committed 
    The `InspiredEnergyMuxNode` has been tested with the ![MCP2221A](https://www.adafruit.com/product/4471) board from Adafruit. The `MCP2221A` connects to the system running ROS via USB, then to the battery pack via i2c. This has been tested on Ubuntu 20.04LTS but may work in other similar contexts.

This driver was written for a system that has multiple Inspired Energy lithium batteries connected to `TCA9548A` i2c multiplexer (this is necessary because these battery packs have the same i2c address 0x70). The `TCA9548A` mux supports up to 4 channels e.g., 4 batteries. The `TCA9548A` mux is also the device we connect to the `MCP2221A` i2c bus. The current driver does not support alternative pins for an i2c bus, yet. The `TCA9548A` mux needs to be on the default `MCP2221A` i2c bus-- board.SDA, board.SCL).

It turns out this driver can be used for viewing the first battery pack in a daisy chained mux system. It is not well tested and should not be used in that case. A version of this driver that supports more channels and daisy chained mux's is in the works.