:boom: Refactor HoverBitController to only have API relevant for HoverBit

3 files changed, 30 insertions, 33 deletions

diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
index 16c6bf1..9860b43 100644
--- a/source/HoverBitController.cpp
+++ b/source/HoverBitController.cpp
@@ -44,8 +44,7 @@ void HoverBitController::init(MicroBit* _uBit) {
     roll = 0;
     yaw = 0;
     throttle = 0;
-    failSafeC = 0;
-    receiveTime = (*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
@@ -62,14 +61,15 @@ void HoverBitController::init(MicroBit* _uBit) {
  * This is not implemented yet.
  */
 bool HoverBitController::failSafe(void) {
-    unsigned long deltaReceiveTime = (*uBit.systemTime()) - receiveTime;
+    unsigned long deltaReceiveTime = (*uBit).systemTime() - lastReceiveTime;
     if (deltaReceiveTime > FSAFE_TLIM_THROTTLE) {
         Throttle(0);
-        Roll(0);
-        Servo1(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);
     }
     return (deltaReceiveTime > FSAFE_TLIM_THROTTLE) || (deltaReceiveTime > FSAFE_TLIM_ARM);
 }
@@ -77,7 +77,7 @@ bool HoverBitController::failSafe(void) {
 /**
  * This returns the current voltage of the battery.
  */
-unsigned int HoverBitController::getBatteryVoltage() {
+unsigned int HoverBitController::GetBatteryVoltage() {
     float batteryFactor = 4.42;
     int batteryMilliVolt = 3700;
     return ((float)((&(*uBit).io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
@@ -164,22 +164,15 @@ void HoverBitController::Throttle(int _throttle) {
     else { throttle = _throttle; }
     lastReceiveTime = (*uBit).systemTime();
 }
-int HoverBitController::Servo1() {
-    return servo_1;
-}
-void HoverBitController::Servo1(int _servo1) {
-    if      (_servo1 > 180) { servo_1 = 180; }
-    else if (_servo1 <   0) { servo_1 =   0; }
-    else { servo_1 = _servo1; }
-    lastReceiveTime = (*uBit).systemTime();
-}
-int HoverBitController::Roll() {
+int HoverBitController::Rudder() {
+    // The AirBit uses the roll parameter to control the hoverbit's rudder.
     return roll;
 }
-void HoverBitController::Roll(int _roll) {
-    if      (_roll >   90) { roll =  90; }
-    else if (_roll <  -90) { roll = -90; }
-    else    { roll = _roll; }
+void HoverBitController::Rudder(int _rudder) {
+    // The AirBit uses the roll parameter to control the hoverbit's rudder.
+    if      (_rudder >   90) { roll =  90; }
+    else if (_rudder <  -90) { roll = -90; }
+    else    { roll = _rudder; }
     lastReceiveTime = (*uBit).systemTime();
 }
 bool HoverBitController::Arm() {
diff --git a/source/HoverBitController.h b/source/HoverBitController.h
index 477e96e..0c2960a 100644
--- a/source/HoverBitController.h
+++ b/source/HoverBitController.h
@@ -31,6 +31,12 @@ DEALINGS IN THE SOFTWARE.
 #define FSAFE_TLIM_THROTTLE 1000 // When to cut the throttle
 #define FSAFE_TLIM_ARM      5000 // When to disarm
 
+/**
+ * This class can be used to interface with a AirBit card for controlling a HOVER:BIT kit.
+ *
+ * A lot of the features of the airbit is ignored here and made easy to understand if all
+ * you want to do is use it for a hoverbit.
+ */
 class HoverBitController {
     private:
         MicroBit* uBit;
@@ -42,7 +48,7 @@ class HoverBitController {
         int pitch;
         int yaw;
         int throttle;
-        unsigned long receiveTime;
+        unsigned long lastReceiveTime;
 
         bool mainController;
         bool batteryEmpty;
@@ -50,19 +56,17 @@ class HoverBitController {
         float batteryFactor;
 
         bool failSafe(void);
+        void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
 
     public:
         void init(MicroBit* _uBit);
-        unsigned int getBatteryVoltage(void);
-        void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
+        unsigned int GetBatteryVoltage(void);
         void HoverControl();
 
         int  Throttle();
         void Throttle(int _throttle);
-        int  Servo1();
-        void Servo1(int _servo1);
-        int  Roll();
-        void Roll(int _roll);
+        int  Rudder();
+        void Rudder(int _rudder);
         bool Arm();
         void Arm(bool _arm);
         bool BatteryEmpty();
diff --git a/source/main.cpp b/source/main.cpp
index caf8ffe..eaf3f30 100644
--- a/source/main.cpp
+++ b/source/main.cpp
@@ -77,17 +77,17 @@ void onConnected(MicroBitEvent) {
                 int value = atoi(msg.substring(startI, startI + valLength).toCharArray());
 
                 if (cCommand == 'R') {
-                    controller.Roll(value);
-                    accString = accString + ManagedString("R") + ManagedString(controller.Roll());
+                    controller.Rudder(value);
+                    accString = accString + ManagedString("R") + ManagedString(controller.Rudder());
                 } else if (cCommand == 'T') {
                     controller.Throttle(value);
                     accString = accString + ManagedString("T") + ManagedString(controller.Throttle());
                 } else if (cCommand == 'A') {
                     controller.Arm(value == 1);
                     accString = accString + ManagedString("A") + ManagedString(controller.Arm());
-                } else if (cCommand == 'S') {
-                    controller.Servo1(value);
-                    accString = accString + ManagedString("S") + ManagedString(controller.Servo1());
+                }
+                } else {
+                    // We ignore it :)
                 }
 
                 cCommand = cChar;
@@ -261,7 +261,7 @@ int main() {
     uBit.audio.soundExpressions.play(ManagedString("hello"));
 
     while (1) {
-        batteryMilliVolt = controller.getBatteryVoltage();
+        batteryMilliVolt = controller.GetBatteryVoltage();
 
         if (uBit.logo.isPressed()) {
             if (!bCapLogoIsPressed) {