> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/full-autonomy-guidelines/features/auto-charging.md).
# Auto Charging
Autonomous docking and charging, with per-map charger locations.
For a robot that's meant to run all day, someone plugging it in defeats the purpose. Auto-charging lets it take itself to the dock and charge — and because you can save a charger location per map, it knows where the dock is in each space it works. Paired with [patrol](/full-autonomy-guidelines/features/patrol.md), it closes the loop: patrol until low, dock, charge, resume.
It's supported on the **Unitree Go2** and the **Deep Robotics M20 Pro**, and needs navigation running. Docking uses each platform's own launch (`go2_charge_launch.py` / `m20_charge_launch.py`), and there's no sim gate — auto-charging works the same in the [Cloud Simulator](/simulators/cloud-isaac-sim.md) as on hardware. See [Robot & simulation support](/full-autonomy-guidelines/features/robot-support.md).
### In the portal
The [OpenMind portal](https://portal.openmind.com) shows live battery state and lets you send the robot to dock (and stop docking) from the machine view. Under **Battery Status** you'll find **Dock to charger**, an **Auto-charge** toggle ("Dock and resume patrol on low battery") with a **Charge below** threshold, and a **Scheduled charge** control that sets the level to **leave the charger above** before rejoining the [patrol schedule](/full-autonomy-guidelines/features/patrol.md#scheduling-patrols). On a multi-pack robot like the M20 Pro, battery state is shown per pack (front / rear).
### Autonomous charging on low battery
Rather than dock on command, let the robot dock itself when the battery gets low. Turn it on and set the threshold it triggers at:
```bash
curl -X POST http://:5000/charging/auto -H 'Content-Type: application/json' -d '{"enabled": true}'
curl -X POST http://:5000/charging/auto_charge_threshold -H 'Content-Type: application/json' -d '{"threshold": 15}'
```
Set the level it should reach before it leaves the dock again (the "leave the charger above" value), so it departs with enough charge to be useful:
```bash
curl -X POST http://:5000/charging/min_depart_soc_threshold -H 'Content-Type: application/json' -d '{"threshold": 90}'
```
To bring the robot back off the dock yourself, undock (and watch or cancel it):
```bash
curl -X POST http://:5000/charging/undock -H 'Content-Type: application/json' -d '{}'
curl http://:5000/charging/undock/status
curl -X POST http://:5000/charging/undock/cancel -H 'Content-Type: application/json' -d '{}'
```
### Docking and monitoring
Send the robot to dock:
```bash
curl -X POST http://:5000/charging/dock -H 'Content-Type: application/json' -d '{}'
```
Watch the battery and docking state:
```bash
curl http://:5000/charging/status
```
You get back `is_charging`, `battery_soc` (%), `battery_current` (mA — negative discharging, positive charging), `battery_voltage`, `battery_temperature`, `dock_process_running`, and `charging_confirmation_pending` (charging detected but not yet confirmed).
Abort or undock:
```bash
curl -X POST http://:5000/charging/stop -H 'Content-Type: application/json' -d '{}'
```
### Telling the robot where the dock is
Read the current charger waypoints, optionally for a specific map:
```bash
curl "http://:5000/charging/location?map_name=office"
```
OM1 resolves the location in order — a **per-map override**, then a **global waypoint file**, then **built-in defaults** — and the `source` field in the response tells you which one it used.
If the robot docks in the wrong place, save a per-map override with a `predock` staging pose and the `charger` pose:
```bash
curl -X POST http://:5000/charging/location/save \
-H 'Content-Type: application/json' \
-d '{"map_name": "office",
"predock": {"position": {"x": 0.5, "y": -2.0, "z": 0}, "orientation": {"x":0,"y":0,"z":-0.707,"w":0.707}},
"charger": {"position": {"x": 0.5, "y": -1.0, "z": 0}, "orientation": {"x":0,"y":0,"z":-0.707,"w":0.707}}}'
```
### If something goes wrong
* **`400` / "Charging is not supported for \"** — the robot type isn't a Go2 or M20, navigation isn't running, or it's already charging/docking.
* **`400` on save** — a field is missing, a pose failed validation, or the `map_name` is invalid or doesn't exist.
* **Wrong dock spot** — save a per-map override as above.
For system endpoints like `GET /status` and base control, see the [Autonomy API Overview](/full-autonomy-guidelines/api_endpoints.md).
---
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