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-rw-r--r--source/HoverBitController.cpp182
-rw-r--r--source/HoverBitController.h68
-rw-r--r--source/Screen.cpp41
-rw-r--r--source/Screen.h73
-rw-r--r--source/main.cpp269
5 files changed, 633 insertions, 0 deletions
diff --git a/source/HoverBitController.cpp b/source/HoverBitController.cpp
new file mode 100644
index 0000000..65ebf17
--- /dev/null
+++ b/source/HoverBitController.cpp
@@ -0,0 +1,182 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#include <MicroBit.h>
+#include "HoverBitController.h"
+
+/**
+ * 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(MicroBit* _uBit) {
+ uBit = _uBit;
+ mainController = false;
+ batteryEmpty = false;
+ batteryMilliVolt = 3700;
+ batteryFactor = 4.42;
+
+ buzzer = 0;
+ servo_1 = 0;
+ arm = 0;
+ roll = 0;
+ yaw = 0;
+ throttle = 0;
+ failSafeC = 0;
+
+ /* 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);
+ int o;
+ for (o = 0; o < 20; o++) {
+ AirBit(-90, 0, 90, 0, 90, 0, 0);
+ (*uBit).sleep(20);
+ }
+}
+
+/**
+ * This is not implemented yet.
+ */
+void HoverBitController::failSafe(void) {
+ // throttle = 0;
+ // roll = 0;
+ // yaw = 0;
+ // arm = 0;
+ // failSafeC++;
+}
+
+/**
+ * This returns the current voltage of the battery.
+ */
+unsigned int HoverBitController::getBatteryVoltage() {
+ float batteryFactor = 4.42;
+ int batteryMilliVolt = 3700;
+ return ((float)((&(*uBit).io.P0)->getAnalogValue()) * batteryFactor * 0.05) + ((float)batteryMilliVolt * 0.95);
+}
+
+/**
+ * Method for sending commands to the AirBit-card,
+ * this code is translated from the ts-code in MakeKit's original hex-file.
+ *
+ * Control TYPR12 (Throttle, Yaw, Pitch, Roll and AUX1 and AUX2) using the Spektsat 2048 protocol
+ * Throttle min: 0, max: 100
+ * Yaw, Pitch Roll: min -90, max 90
+ * Arm: 0 = Disarm, 1 = Arm
+ * Aux1: 0 - 180
+ * Aux2: 0 - 180
+ */
+void HoverBitController::AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2) {
+ uint8_t buf[16];
+ float scaling = 1024 / 180;
+ int offset = 512;
+ float scalingServo = 1024 / 90;
+
+ unsigned int armS = 0;
+ if (Arm == 0) { armS = 0; }
+ if (Arm == 1) { armS = 1023; }
+
+ Pitch = - Pitch;
+ unsigned int aux1S = Aux1 * scalingServo;
+ unsigned int aux2S = Aux2 * scalingServo;
+ unsigned int pitchS = static_cast<unsigned int>((float)Pitch * scaling + (float)offset);
+ unsigned int rollS = static_cast<unsigned int>((float)Roll * scaling + (float)offset);
+ unsigned int yawS = static_cast<unsigned int>((float)Yaw * scaling + (float)offset);
+ unsigned int throttleS = (Throttle * 512) / 50;
+ if (Throttle == 0) { throttleS = 0; }
+
+ if (aux1S > 1023) { aux1S = 1023; }
+ if (aux2S > 1023) { aux2S = 1023; }
+
+ if (throttleS > 1023) { throttleS = 1023; }
+ if (yawS > 1023) { yawS = 1023; }
+ if (pitchS > 1023) { pitchS = 1023; }
+ if (rollS > 1023) { rollS = 1023; }
+
+ // Header "Fade" (Spektsat code)
+ buf[0] = 0;
+ // Header "System" (Spektsat code)
+ buf[1] = 0x01;
+ // 0x01 22MS 1024 DSM2
+ // 0x12 11MS 2048 DSM2
+ // 0xa2 22MS 2048 DSMS
+ // 0xb2 11MS 2048 DSMX
+ buf[2] = (0 << 2) | ((rollS >> 8) & 3);
+ buf[3] = rollS & 255;
+ buf[4] = (1 << 2) | ((pitchS >> 8) & 3);
+ buf[5] = pitchS & 255;
+ buf[6] = (2 << 2) | ((throttleS >> 8) & 3);
+ buf[7] = throttleS & 255;
+ buf[8] = (3 << 2) | ((yawS >> 8) & 3);
+ buf[9] = yawS & 255;
+ buf[10] = (4 << 2) | ((armS >> 8) & 3);
+ buf[11] = armS & 255;
+ buf[12] = (5 << 2) | ((aux1S >> 8) & 3);
+ buf[13] = aux1S & 255;
+ buf[14] = (6 << 2) | ((aux2S >> 8) & 3);
+ buf[15] = aux2S & 255;
+ (*uBit).serial.send(buf, 16, SYNC_SPINWAIT);
+}
+
+/**
+ * Method that sends commands with the current values for all parameters.
+ */
+void HoverBitController::HoverControl() {
+ AirBit(0, arm, 0, throttle, roll, roll + 45, servo_1);
+}
+
+int HoverBitController::Throttle() {
+ return throttle;
+}
+void HoverBitController::Throttle(int _throttle) {
+ if (_throttle > 99) { throttle = 100; }
+ else if (_throttle < 0) { throttle = 0; }
+ else { throttle = _throttle; }
+}
+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; }
+}
+int HoverBitController::Roll() {
+ return roll;
+}
+void HoverBitController::Roll(int _roll) {
+ if (_roll > 90) { roll = 90; }
+ else if (_roll < -90) { roll = -90; }
+ else { roll = _roll; }
+}
+bool HoverBitController::Arm() {
+ return (arm == 1);
+}
+void HoverBitController::Arm(bool _arm) {
+ arm = (int)_arm;
+}
+bool HoverBitController::BatteryEmpty() {
+ return batteryEmpty;
+}
diff --git a/source/HoverBitController.h b/source/HoverBitController.h
new file mode 100644
index 0000000..4963cd1
--- /dev/null
+++ b/source/HoverBitController.h
@@ -0,0 +1,68 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#ifndef HOVERBITCONTROLLER_H_
+#define HOVERBITCONTROLLER_H_
+
+#include <MicroBit.h>
+
+#define BATTERY_LOW_LIMIT 3500
+
+class HoverBitController {
+ private:
+ MicroBit* uBit;
+
+ int buzzer;
+ int servo_1;
+ int arm;
+ int roll;
+ int pitch;
+ int yaw;
+ int throttle;
+ int failSafeC;
+
+ bool mainController;
+ bool batteryEmpty;
+ int batteryMilliVolt;
+ float batteryFactor;
+
+ public:
+ void init(MicroBit* _uBit);
+ void failSafe(void);
+ unsigned int getBatteryVoltage(void);
+ void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
+ void HoverControl();
+
+ int Throttle();
+ void Throttle(int _throttle);
+ int Servo1();
+ void Servo1(int _servo1);
+ int Roll();
+ void Roll(int _roll);
+ bool Arm();
+ void Arm(bool _arm);
+ bool BatteryEmpty();
+};
+
+#endif // HOVERBITCONTROLLER_H_
diff --git a/source/Screen.cpp b/source/Screen.cpp
new file mode 100644
index 0000000..c778798
--- /dev/null
+++ b/source/Screen.cpp
@@ -0,0 +1,41 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#include "Screen.h"
+
+/**
+ * Method for plotting a line, gotten from wonder-bit-source.
+ */
+void plotYLine(MicroBit *uBit, int y1, int y2, int x) {
+ if (y1 >= y2) {
+ for (int y = y2; y <= y1; y++) {
+ (*uBit).display.image.setPixelValue(x, y, 255);
+ }
+ }
+ else if (y1 < y2) {
+ for (int y = y1; y <= y2; y++) {
+ (*uBit).display.image.setPixelValue(x, y, 255);
+ }
+ }
+}
diff --git a/source/Screen.h b/source/Screen.h
new file mode 100644
index 0000000..b60ba2b
--- /dev/null
+++ b/source/Screen.h
@@ -0,0 +1,73 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#ifndef SCREEN_H_
+#define SCREEN_H_
+
+#include <MicroBit.h>
+
+enum DisplayMainScreenMode { GRAPHS, BATTERY, OFF };
+
+const char* const strBattDead = "\
+ 000,255,255,255,000\n\
+ 255,000,255,000,255\n\
+ 255,255,255,255,255\n\
+ 000,255,000,255,000\n\
+ 000,255,000,255,000\n";
+const char* const strBattLow = "\
+ 000,000,255,000,000\n\
+ 000,255,255,255,000\n\
+ 000,255,000,255,000\n\
+ 000,255,000,255,000\n\
+ 000,255,255,255,000\n";
+static const char* const strBattLevel[] = {
+ "\
+ 000,000,255,000,000\n\
+ 000,255,000,255,000\n\
+ 000,255,000,255,000\n\
+ 000,255,000,255,000\n\
+ 000,255,255,255,000\n",
+ "\
+ 000,000,255,000,000\n\
+ 000,255,000,255,000\n\
+ 000,255,000,255,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n",
+ "\
+ 000,000,255,000,000\n\
+ 000,255,000,255,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n",
+ "\
+ 000,000,255,000,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n\
+ 000,255,255,255,000\n"
+};
+
+void plotYLine(MicroBit *uBit, int y1, int y2, int x);
+
+#endif // SCREEN_H_
diff --git a/source/main.cpp b/source/main.cpp
new file mode 100644
index 0000000..7687b45
--- /dev/null
+++ b/source/main.cpp
@@ -0,0 +1,269 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+#include <MicroBit.h>
+#include "MicroBitUARTService.h"
+#include "HoverBitController.h"
+#include "Screen.h"
+
+MicroBit uBit;
+MicroBitUARTService *uart;
+HoverBitController controller;
+
+bool bConnected = false;
+
+bool batteryEmpty = false;
+bool bCapLogoIsPressed = false;
+int batteryMilliVolt = 3700;
+unsigned long tmpTimer;
+bool bBLEIndicator = false;
+
+DisplayMainScreenMode displayMainScreenMode = GRAPHS;
+
+void onConnected(MicroBitEvent) {
+ bConnected = 1;
+ uBit.audio.setVolume(255);
+ uBit.audio.soundExpressions.play(ManagedString("giggle"));
+
+ // mobile app will send ASCII strings terminated with the colon character
+ ManagedString eom(":");
+
+ while (bConnected) {
+ ManagedString msg = uart->readUntil(eom);
+ char command = msg.substring(0, 1).toCharArray()[0];
+ int value = atoi(msg.substring(1, msg.length() - 1).toCharArray());
+
+ if (command == 'R') {
+ controller.Roll(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Roll());
+ }
+ } else if (command == 'T') {
+ controller.Throttle(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Throttle());
+ }
+ } else if (command == 'A') {
+ controller.Arm(value == 1);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Arm());
+ }
+ } else if (command == 'S') {
+ controller.Servo1(value);
+ if (displayMainScreenMode == OFF) {
+ uBit.display.scroll(controller.Servo1());
+ }
+ } else {
+ uBit.display.scroll(command);
+ }
+ }
+
+}
+
+void onDisconnected(MicroBitEvent) {
+ bConnected = 0;
+ uBit.audio.soundExpressions.play(ManagedString("sad"));
+}
+
+void iconBatteryDead() {
+ MicroBitImage img(strBattDead);
+ uBit.display.print(img);
+}
+
+void iconBatteryLow() {
+ MicroBitImage img(strBattLow);
+ uBit.display.print(img);
+}
+
+void lowBattery() {
+ if (batteryEmpty) {
+ iconBatteryDead();
+ } else if (batteryMilliVolt > BATTERY_LOW_LIMIT - 50){
+ iconBatteryLow();
+ } else {
+ iconBatteryDead();
+ }
+}
+
+void iconBatteryCharging() {
+ int low = 0;
+ int high = 3;
+ if (batteryMilliVolt >= 4200) {
+ low = 3;
+ } else if (batteryMilliVolt >= 4040) {
+ low = 2;
+ } else if (batteryMilliVolt >= 3900) {
+ low = 1;
+ }
+
+ for (int i = low; i <= high; i++) {
+ MicroBitImage img(strBattLevel[i]);
+ uBit.display.print(img);
+ uBit.sleep(400);
+ }
+}
+
+void batteryLevelFullScreen() {
+ int level = 0;
+ if (controller.Arm()) {
+ level = (((batteryMilliVolt - 3400) * 3) / 500);
+ } else {
+ level = (((batteryMilliVolt - 3700) * 3) / 500);
+ }
+ if (level < 0) { level = 0; }
+ if (level > 3) { level = 3; }
+ MicroBitImage img(strBattLevel[level]);
+ uBit.display.print(img);
+}
+
+void plotYLine(int y1, int y2, int x) {
+ /**
+ * Draw a line along the Y axis. y1: first pixel, y2: last pixel
+ */
+
+ if (y1 >= y2) {
+ for (int y = y2; y <= y1; y++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+ else if (y1 < y2) {
+ for (int y = y1; y <= y2; y++) {
+ uBit.display.image.setPixelValue(x, y, 255);
+ }
+ }
+}
+
+void nextMainScreenDisplayMode() {
+ uBit.display.clear();
+ switch (displayMainScreenMode) {
+ case GRAPHS:
+ displayMainScreenMode = BATTERY;
+ break;
+ case BATTERY:
+ displayMainScreenMode = OFF;
+ break;
+ case OFF:
+ displayMainScreenMode = GRAPHS;
+ break;
+ }
+}
+
+void mainScreen() {
+ // uBit.display.clear();
+ bool bDelayElapsed = (uBit.systemTime() - tmpTimer) > 1000;
+ if (bDelayElapsed) { tmpTimer = uBit.systemTime(); }
+
+ switch (displayMainScreenMode) {
+ case OFF:
+ break;
+ case BATTERY:
+ uBit.display.clear();
+ batteryLevelFullScreen();
+ break;
+ case GRAPHS:
+ default:
+ uBit.display.clear();
+ if (batteryMilliVolt > 100) {
+ if (controller.Arm()) {
+ plotYLine(0, (((batteryMilliVolt - 3400) * 4) / 500), 4);
+ } else {
+ plotYLine(0, (((batteryMilliVolt - 3700) * 4) / 500), 4);
+ }
+ }
+ break;
+ }
+
+ if (bConnected) {
+ uBit.display.image.setPixelValue(0, 0, 255);
+ } else {
+ if (bDelayElapsed) { bBLEIndicator = !bBLEIndicator; }
+ if (bBLEIndicator) {
+ uBit.display.image.setPixelValue(0, 0, 0);
+ } else {
+ uBit.display.image.setPixelValue(0, 0, 255);
+ }
+ }
+}
+
+void onButtonA_press(MicroBitEvent e) {
+ controller.Roll(controller.Roll() + 3);
+}
+void onButtonB_press(MicroBitEvent e) {
+ controller.Roll(controller.Roll() - 3);
+}
+
+int main() {
+ uBit.init();
+ tmpTimer = uBit.systemTime();
+
+ // 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 */
+ controller.init(&uBit);
+
+ // Setup listeners
+ uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_CONNECTED, onConnected);
+ uBit.messageBus.listen(MICROBIT_ID_BLE, MICROBIT_BLE_EVT_DISCONNECTED, onDisconnected);
+ 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);
+
+ // uartService
+ // Note GATT table size increased from default in MicroBitConfig.h
+ // #define MICROBIT_SD_GATT_TABLE_SIZE 0x500
+ uart = new MicroBitUARTService(*uBit.ble, 32, 32);
+
+ uBit.audio.soundExpressions.play(ManagedString("hello"));
+
+ while (1) {
+ batteryMilliVolt = controller.getBatteryVoltage();
+
+ if (uBit.logo.isPressed()) {
+ if (!bCapLogoIsPressed) {
+ bCapLogoIsPressed = true;
+ nextMainScreenDisplayMode();
+ }
+ } else if (bCapLogoIsPressed ){
+ bCapLogoIsPressed = false;
+ }
+
+ 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)) {
+ lowBattery();
+ } else {
+ mainScreen();
+ }
+
+ controller.HoverControl();
+ uBit.sleep(20);
+ }
+
+ // If main exits, there may still be other fibers running or registered event handlers etc.
+ // Simply release this fiber, which will mean we enter the scheduler. Worse case, we then
+ // sit in the idle task forever, in a power efficient sleep.
+ release_fiber();
+}
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