:sparkles: Do lots of small tweaks

5 files changed, 32 insertions, 83 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 879568c..e2130f4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,17 +82,6 @@ SET(CODAL_OUTPUT_NAME ${device.device})
 SET(CODAL_TARGET_PROCESSOR ${device.processor})
 SET(CODAL_TARGET_CPU_ARCHITECTURE ${device.architecture})
 
-# if this is the first build, lets copy a sample main.cpp from the target if available.
-if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${CODAL_APP_SOURCE_DIR} AND EXISTS ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/main.cpp)
-    FILE(COPY ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/main.cpp DESTINATION ${CMAKE_CURRENT_LIST_DIR}/${CODAL_APP_SOURCE_DIR})
-endif()
-
-#copy samples and remove main.cpp
-if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/samples AND EXISTS ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples/)
-    FILE(COPY ${CMAKE_CURRENT_LIST_DIR}/${LIB_DEST}/${codal.target.name}/samples DESTINATION ${CMAKE_CURRENT_LIST_DIR})
-    FILE(REMOVE ${CMAKE_CURRENT_LIST_DIR}/samples/main.cpp)
-endif()
-
 ####################
 
 SET(TOOLCHAIN ${device.toolchain})
diff --git a/inc/Screen.h b/inc/Screen.h
index abac919..0ea7b8c 100644
--- a/inc/Screen.h
+++ b/inc/Screen.h
@@ -83,8 +83,6 @@ class HoverBitDisplay {
         DisplayMainScreenMode screenMode;
         unsigned int tmpTimer;
         bool BLEconnected;
-        bool bBLEIndicator;
-        bool flipFrame;
         bool isPause;
 
         void lowBattery();
diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
index 1ecc21b..301fdeb 100644
--- a/source/HoverBitController.cpp
+++ b/source/HoverBitController.cpp
@@ -27,8 +27,6 @@ DEALINGS IN THE SOFTWARE.
 /**
  * Init method for HoverBitController, this sets everything to the default values.
  * It also initializes the airbit-pcb with some protocol magic.
- *
- * @param _uBit the MicroBit instance
  */
 void HoverBitController::init() {
     mainController = false;
@@ -44,9 +42,8 @@ void HoverBitController::init() {
     throttle = 0;
     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... */
+    /* I am not completly sure what this does, according to the hover:bit guys
+       this is some magic to disable gyro-control of the lift fan. */
     uBit.sleep(100);
     int o;
     for (o = 0; o < 20; o++) {
@@ -60,14 +57,14 @@ void HoverBitController::init() {
  */
 bool HoverBitController::failSafe(void) {
     unsigned long deltaReceiveTime = uBit.systemTime() - lastReceiveTime;
-    if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
-        Throttle(0);
-        Rudder(0);
-        AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
-    }
     if (deltaReceiveTime > FSAFE_TLIM_ARM) {
-        Arm(0);
-        AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
+        arm = 0;
+        AirBit(0, 0, 0, 0, 0, 0 + 45, servo_1);
+    }
+    if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
+        throttle = 0;
+        roll = 0;
+        AirBit(0, arm, 0, 0, 0, 0 + 45, servo_1);
     }
     return (deltaReceiveTime > FSAFE_TLIM_THROTTLE) || (deltaReceiveTime > FSAFE_TLIM_ARM);
 }
@@ -87,9 +84,9 @@ unsigned int HoverBitController::GetBatteryVoltage() {
 void HoverBitController::checkBattery() {
     if (GetBatteryVoltage() < BATTERY_LOW_LIMIT - 60) {
         bBatteryEmpty = true;
-        Throttle(0);
-        Arm(0);
-        Rudder(0);
+        throttle = 0;
+        arm = 0;
+        roll = 0;
     }
 }
 
@@ -162,7 +159,7 @@ void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,
 void HoverBitController::HoverControl() {
     checkBattery();
     if (BatteryEmpty()) {
-        Arm(0);
+        arm = 0;
     }
     if (!failSafe()) {
         AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
diff --git a/source/Screen.cpp b/source/Screen.cpp
index ad52247..f961994 100644
--- a/source/Screen.cpp
+++ b/source/Screen.cpp
@@ -179,9 +179,6 @@ void HoverBitDisplay::update() {
     if (isPause) { return; }
     int batteryMilliVolt = controller.GetBatteryVoltage();
 
-    flipFrame = (uBit.systemTime() - tmpTimer) > 1000;
-    if (flipFrame) { tmpTimer = uBit.systemTime(); }
-
     if ((((&uBit.io.P0)->getAnalogValue()) < 600) && (((&uBit.io.P0)->getAnalogValue()) >= 400)) {
         iconBatteryCharging();
     } else if (controller.BatteryEmpty() || (batteryMilliVolt < BATTERY_LOW_LIMIT && (&uBit.io.P0)->getAnalogValue() > 300)) {
@@ -189,7 +186,7 @@ void HoverBitDisplay::update() {
     } else if (!BLEconnected) {
         BLENotConnected();
     } else {
-        mainScreen();
+        showGraphs();
     }
 }
 
@@ -211,40 +208,15 @@ void HoverBitDisplay::lowBattery() {
  * Flashes a bluetooth symbol on screen.
  */
 void HoverBitDisplay::BLENotConnected() {
-    if ((((uBit.systemTime() >> (12 - 1) & 1)) == 1)) {
-        bBLEIndicator = !bBLEIndicator;
+    if (uBit.systemTime() % 1000 > 250) {
+        MicroBitImage img(bluetoothSymbol);
+        uBit.display.print(img);
+    } else {
         uBit.display.clear();
-        if (bBLEIndicator) {
-            MicroBitImage img(bluetoothSymbol);
-            uBit.display.print(img);
-        } else {
-            // Need to actually see this to know if I want to flash only
-            // blank screen or with battery.
-            //batteryLevelFullScreen();
-        }
     }
 }
 
 /**
- * Method that does the "default" main screen mode.
- * Called when in a connected "normal" operating state.
- */
-void HoverBitDisplay::mainScreen() {
-     switch (displayMainScreenMode) {
-         case OFF:
-             break;
-         case BATTERY:
-             uBit.display.clear();
-             batteryLevelFullScreen();
-             break;
-         case GRAPHS:
-         default:
-            showGraphs();
-            break;
-        }
-}
-
-/**
  * Show the GRAPH displayMainScreenMode
  */
 void HoverBitDisplay::showGraphs() {
diff --git a/source/main.cpp b/source/main.cpp
index 6f3332b..16e665a 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -52,6 +52,7 @@ void onDisconnected(MicroBitEvent) {
 
 void onDelim(MicroBitEvent) {
     ManagedString msg = uart->readUntil(BLE_UART_DELIM);
+    uBit.display.image.setPixelValue(1, 0, 255);
 
     int length = msg.length();
     const char* command = msg.toCharArray();
@@ -120,13 +121,6 @@ void onDelim(MicroBitEvent) {
     uart->send(accString);
 }
 
-void onButtonA_press(MicroBitEvent e) {
-    hoverBitDisplay.nextMode();
-}
-
-void onButtonB_press(MicroBitEvent e) {
-}
-
 void onButtonAB_press(MicroBitEvent e) {
     hoverBitDisplay.pause();
     uBit.display.scroll(VERSION);
@@ -135,14 +129,15 @@ void onButtonAB_press(MicroBitEvent e) {
 
 int main() {
     uBit.init();
-    uBit.audio.setVolume(255);
 
     // Setup serial for Spektsat communication with air:bit board
     uBit.serial.setBaud(115200);
     uBit.serial.redirect(uBit.io.P1, uBit.io.P2);
 
-    /* Initialize hover:bit controller module
-     * the init procedure have to be run within 100ms after air:bit power up */
+    /* Initialize hover:bit controller module, these timeouts are some voodo 
+       magic I don't quite understand. But for the init method to function
+       as we want, there should be a relatively long delay here. */
+    uBit.sleep(3000);
     controller.init();
 
     // Setup listeners
@@ -150,8 +145,6 @@ int main() {
     uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected);
     uBit.messageBus.listen(MICROBIT_ID_BLE_UART, MICROBIT_UART_S_EVT_DELIM_MATCH, onDelim);
 
-    uBit.messageBus.listen(MICROBIT_ID_BUTTON_A, MICROBIT_BUTTON_EVT_CLICK, onButtonA_press);
-    uBit.messageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonB_press);
     uBit.messageBus.listen(MICROBIT_ID_BUTTON_AB, MICROBIT_BUTTON_EVT_CLICK, onButtonAB_press);
 
     // uartService
@@ -160,21 +153,21 @@ int main() {
     uart = new MicroBitUARTService(*uBit.ble, 32, 32);
     uart->eventOn(BLE_UART_DELIM);
 
+    uBit.audio.setVolume(20);
     uBit.audio.soundExpressions.play(ManagedString("hello"));
+    hoverBitDisplay.mode(GRAPHS);
 
     while (1) {
-        if (uBit.logo.isPressed()) {
-            if (!bCapLogoIsPressed) {
-                bCapLogoIsPressed = true;
-                hoverBitDisplay.nextMode();
-            }
-        } else if (bCapLogoIsPressed) {
-            bCapLogoIsPressed = false;
-        }
-
         hoverBitDisplay.update();
         controller.HoverControl();
+        if (uBit.systemTime() % 2000 > 1900) {
+            uart->send(
+                ManagedString("B:")
+                + ManagedString((int)controller.GetBatteryVoltage())
+            );
+        }
         uBit.sleep(20);
+        schedule();
     }
 
     // If main exits, there may still be other fibers running or registered event handlers etc.