# Power Supply System API

### Check the information of the left battery.

**Function Overview：**Subscribe to the ***Topic*** for feedback on the left battery information.

**Topic：**`system/batteries/left`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**Code Example：**`ros2 topic echo /[namespace]/system/batteries/left`

### Check the information of the right battery

**Function Overview：**Subscribe to the ***Topic*** for feedback on the right battery information.

**Topic：**`system/batteries/right`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**Code Example：**`ros2 topic echo /[namespace]/system/batteries/right`

### Check the information of the supercapacitor

**Function Overview：**Subscribe to the ***Topic*** for feedback on supercapacitor information.

**Topic：**`system/batteries/super`

**Msg Type：**`tita_system_msgs/msg/BatterieStates`

**Code Example：**`ros2 topic echo /[namespace]/system/batteries/super`

### Check the power supply statistics information

**Function Overview：**Subscribe to the ***Topic*** for feedback on power supply statistics information.

**Topic：**`system/power_supply/info`

**Msg Type：**`tita_system_msgs/msg/PowerSupplyInfo`

**Code Example：**`ros2 topic echo /[namespace]/system/power_supply/info`

{% hint style="info" %}
Enable the power data upload feature by modifying the file /usr/share/power\_bridges/conf/tita\_power.toml, set record\_battery\_info=1 (#0 to disable, 1 to enable).
{% endhint %}