:art: Use extern MicroBit instead of sending pointer to classes

3 files changed, 14 insertions, 15 deletions

diff --git a/inc/HoverBitController.h b/inc/HoverBitController.h
index 0c2960a..80ad173 100644
--- a/inc/HoverBitController.h
+++ b/inc/HoverBitController.h
@@ -31,6 +31,8 @@ DEALINGS IN THE SOFTWARE.
 #define FSAFE_TLIM_THROTTLE 1000 // When to cut the throttle
 #define FSAFE_TLIM_ARM      5000 // When to disarm
 
+extern MicroBit uBit;
+
 /**
  * This class can be used to interface with a AirBit card for controlling a HOVER:BIT kit.
  *
@@ -39,8 +41,6 @@ DEALINGS IN THE SOFTWARE.
  */
 class HoverBitController {
     private:
-        MicroBit* uBit;
-
         int buzzer;
         int servo_1;
         int arm;
@@ -59,7 +59,7 @@ class HoverBitController {
         void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
 
     public:
-        void init(MicroBit* _uBit);
+        void init();
         unsigned int GetBatteryVoltage(void);
         void HoverControl();
 
diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
index fc4c51b..2e908c3 100644
--- a/source/HoverBitController.cpp
+++ b/source/HoverBitController.cpp
@@ -31,8 +31,7 @@ DEALINGS IN THE SOFTWARE.
  *
  * @param _uBit the MicroBit instance
  */
-void HoverBitController::init(MicroBit* _uBit) {
-    uBit = _uBit;
+void HoverBitController::init() {
     mainController = false;
     batteryEmpty   = false;
     batteryMilliVolt = 3700;
@@ -44,16 +43,16 @@ void HoverBitController::init(MicroBit* _uBit) {
     roll = 0;
     yaw = 0;
     throttle = 0;
-    lastReceiveTime = uBit->systemTime();
+    lastReceiveTime = uBit.systemTime();
 
     /* I am not completly sure what this does, but it seems to me like this is
        putting the air:bit board in some kind of "bind-mode", on the spec-sheet
        there isn't any documentation for what 20 pulses means tho... */
-    uBit->sleep(100);
+    uBit.sleep(100);
     int o;
     for (o = 0; o < 20; o++) {
         AirBit(-90, 0, 90, 0, 90, 0, 0);
-        uBit->sleep(20);
+        uBit.sleep(20);
     }
 }
 
@@ -61,7 +60,7 @@ void HoverBitController::init(MicroBit* _uBit) {
  * This is not implemented yet.
  */
 bool HoverBitController::failSafe(void) {
-    unsigned long deltaReceiveTime = uBit->systemTime() - lastReceiveTime;
+    unsigned long deltaReceiveTime = uBit.systemTime() - lastReceiveTime;
     if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
         Throttle(0);
         Rudder(0);
@@ -80,7 +79,7 @@ bool HoverBitController::failSafe(void) {
 unsigned int HoverBitController::GetBatteryVoltage() {
     float batteryFactor = 4.42;
     int batteryMilliVolt = 3700;
-    return ((float)((&uBit->io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
+    return ((float)((&uBit.io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
 }
 
 /**
@@ -143,7 +142,7 @@ void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,
     buf[13] = aux1S & 255;
     buf[14] = (6 << 2) | ((aux2S >> 8) & 3);
     buf[15] = aux2S & 255;
-    uBit->serial.send(buf, 16, SYNC_SPINWAIT);
+    uBit.serial.send(buf, 16, SYNC_SPINWAIT);
 }
 
 /**
@@ -162,7 +161,7 @@ void HoverBitController::Throttle(int _throttle) {
     if      (_throttle > 99) { throttle = 100; }
     else if (_throttle <  0) { throttle =   0; }
     else { throttle = _throttle; }
-    lastReceiveTime = uBit->systemTime();
+    lastReceiveTime = uBit.systemTime();
 }
 int HoverBitController::Rudder() {
     // The AirBit uses the roll parameter to control the hoverbit's rudder.
@@ -173,14 +172,14 @@ void HoverBitController::Rudder(int _rudder) {
     if      (_rudder >   90) { roll =  90; }
     else if (_rudder <  -90) { roll = -90; }
     else    { roll = _rudder; }
-    lastReceiveTime = uBit->systemTime();
+    lastReceiveTime = uBit.systemTime();
 }
 bool HoverBitController::Arm() {
     return (arm == 1);
 }
 void HoverBitController::Arm(bool _arm) {
     arm = (int)_arm;
-    lastReceiveTime = uBit->systemTime();
+    lastReceiveTime = uBit.systemTime();
 }
 bool HoverBitController::BatteryEmpty() {
     return batteryEmpty;
diff --git a/source/main.cpp b/source/main.cpp
index 8d5e837..de11801 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -258,7 +258,7 @@ int main() {
 
     /* Initialize hover:bit controller module
      * the init procedure have to be run within 100ms after air:bit power up */
-    controller.init(&uBit);
+    controller.init();
 
     // Setup listeners
     uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected);