HandController: split logic into modules

src/hand-controller/buttons.cpp

@@ -1,9 +1,10 @@
+#include "buttons.h"
 #include "handController.h"
 #include <MicroBit.h>
 
 // Button variables:
-int throttle = 0;
-bool armed = false;
+static int throttle = 0;
+static bool armed = false;
 
 const int THROTTLE_THRESHOLD = 40;
 const int THROTTLE_MIN = 5;
@@ -31,7 +32,7 @@ static void onButtonAB(MicroBitEvent) {
   // uBit.display.print(armed ? "1" : "0");
 }
 
-void setBtnsHandlers() {
+void SetBtnsHandlers() {
   uBit.messageBus.listen(DEVICE_ID_BUTTON_A, DEVICE_BUTTON_EVT_CLICK,
                          onButtonA);
   uBit.messageBus.listen(DEVICE_ID_BUTTON_B, DEVICE_BUTTON_EVT_CLICK,
@@ -40,7 +41,11 @@ void setBtnsHandlers() {
                          onButtonAB);
 }
 
-void checkPanic() {
+int GetThrottle() { return throttle; }
+
+bool IsArmed() { return armed; }
+
+void CheckPanic() {
   if (uBit.accelerometer.getGesture() == ACCELEROMETER_EVT_SHAKE) {
     armed = false;
     throttle = 0;

src/hand-controller/buttons.h

@@ -0,0 +1,7 @@
+#pragma once
+
+void SetBtnsHandlers();
+int GetThrottle();
+bool IsArmed();
+
+void CheckPanic();

src/hand-controller/handController.h

@@ -1,3 +1,8 @@
+#include "buttons.h"
+#include "orientation.h"
+#include "pins.h"
+#include "transmitter.h"
+#include "view.h"
 #include <MicroBit.h>
 
 #ifndef HAND_CONTROLLER_H
@@ -7,26 +12,8 @@
 
 #ifdef MICROBIT_UBIT_AS_STATIC_OBJECT
 extern MicroBit uBit; // Target the same uBit as in main.cpp
-
-// Hand controller variables, PARTY
-extern int pitch;
-extern bool armed;
-extern int roll;
-extern int throttle;
-extern int yaw;
 #else
 extern MicroBit &uBit;
 #endif
 
-// Setup peripherals:
-void setBtnsHandlers();
-void setP1High();
-
-// Monitoring:
-void setOrientation();
-void updateDisplay();
-void checkPanic();
-void transmittData();
-void readPins();
-
 #endif

src/hand-controller/orientation.cpp

@@ -1,10 +1,10 @@
+#include "orientation.h"
 #include "handController.h"
 #include <MicroBit.h>
-#include <algorithm>
 
 // orientation variables:
-int pitch = 0;
-int roll = 0;
+static int pitch = 0;
+static int roll = 0;
 
 const int ANGULAR_THRESHOLD = 45;
 const int STEADY_STATE_THRESHOLD = 15;
@@ -27,7 +27,7 @@ static int clampAngles(int value, int threshold) {
   return clampedValue;
 }
 
-void setOrientation() {
+void SetOrientation() {
   int measuredPitch = uBit.accelerometer.getPitch();
   pitch = clampAngles(measuredPitch, ANGULAR_THRESHOLD);
 
@@ -36,4 +36,8 @@ void setOrientation() {
 
   // uBit.display.scroll(pitch);
   // uBit.display.scroll(roll);
-}
+}
+
+int GetPitch() { return pitch; }
+
+int GetRoll() { return roll; }

src/hand-controller/orientation.h

@@ -0,0 +1,6 @@
+#pragma once
+#include <algorithm>
+
+void SetOrientation();
+int GetPitch();
+int GetRoll();

src/hand-controller/pins.cpp

@@ -1,7 +1,8 @@
+#include "pins.h"
 #include "handController.h"
 #include <MicroBit.h>
 
-int yaw = 0;
+static int yaw = 0;
 
 // ADC has a resolution of 1 Byte
 // There are different thresholds for the two pins, as P0 is more sensible
@@ -33,15 +34,15 @@ static int setYawFromP2Read(int meas) {
   }
 }
 
-void setP1High() {
+void SetP1High() {
   int succ = uBit.io.P1.setAnalogValue(MAX_PWM_VALUE);
   if (succ != DEVICE_OK) {
     uBit.display.scroll("P1");
     uBit.sleep(1000);
   }
 }
 
-void readPins() {
+void ReadPins() {
   int p0 = uBit.io.P0.getAnalogValue();
   int p2 = uBit.io.P2.getAnalogValue();
 
@@ -54,4 +55,6 @@ void readPins() {
   } else if (p2 > p0) {
     yaw = setYawFromP2Read(p2);
   }
-}
+}
+
+int GetYaw() { return yaw; }

src/hand-controller/pins.h

@@ -0,0 +1,5 @@
+#pragma once
+
+void SetP1High();
+void ReadPins();
+int GetYaw();

src/hand-controller/transmitter.cpp

@@ -1,4 +1,8 @@
+#include "transmitter.h"
+#include "buttons.h"
 #include "handController.h"
+#include "orientation.h"
+#include "pins.h"
 #include <MicroBit.h>
 
 /*
@@ -52,10 +56,10 @@ static void sendValue(char name, int value) {
   uBit.radio.datagram.send(buf, i);
 }
 
-void transmittData() {
-  sendValue('P', pitch);
-  sendValue('A', armed);
-  sendValue('R', roll);
-  sendValue('T', throttle);
-  sendValue('Y', yaw);
+void TransmittData() {
+  sendValue('P', GetPitch());
+  sendValue('A', IsArmed());
+  sendValue('R', GetRoll());
+  sendValue('T', GetThrottle());
+  sendValue('Y', GetYaw());
 }

src/hand-controller/transmitter.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void TransmittData();

src/hand-controller/display.cpp → src/hand-controller/view.cpp

@@ -1,6 +1,9 @@
+#include "view.h"
+#include "buttons.h"
 #include "handController.h"
+#include "orientation.h"
+#include "pins.h"
 #include <MicroBit.h>
-#include <cmath>
 
 // MicroBit display
 const uint16_t LED_DISPLAY_SIZE = 5;
@@ -19,7 +22,7 @@ static void updatePulse() {
 }
 
 static void displayArmed(Image &ledDisplay) {
-  if (armed) {
+  if (IsArmed()) {
     updatePulse();
     ledDisplay.setPixelValue(0, 0, armedPulse);
   } else {
@@ -28,6 +31,7 @@ static void displayArmed(Image &ledDisplay) {
 }
 
 static void displayThrottle(Image &ledDisplay) {
+  int throttle = GetThrottle();
   if (throttle == 0) {
     return;
   } else {
@@ -41,17 +45,17 @@ static uint16_t angleToDisplayCoord(int angle) {
 }
 
 static void displayPitchRoll(Image &ledDisplay) {
-  uint16_t x = angleToDisplayCoord(roll);
-  uint16_t y = angleToDisplayCoord(pitch);
+  uint16_t x = angleToDisplayCoord(GetRoll());
+  uint16_t y = angleToDisplayCoord(GetPitch());
   ledDisplay.setPixelValue(x, y, LED_ON);
 }
 
 static void displayYaw(Image &ledDisplay) {
-  uint16_t x = static_cast<uint16_t>(yaw / 30 + 2);
+  uint16_t x = static_cast<uint16_t>(GetYaw() / 30 + 2);
   ledDisplay.setPixelValue(x, 0, LED_ON);
 }
 
-void updateDisplay() {
+void UpdateDisplay() {
   uBit.display.clear();
 
   Image ledDisplay = Image(LED_DISPLAY_SIZE, LED_DISPLAY_SIZE);

src/hand-controller/view.h

@@ -0,0 +1,4 @@
+#pragma once
+#include <cmath>
+
+void UpdateDisplay();

src/main.cpp

@@ -31,22 +31,22 @@ static void FlightController() {
 }
 
 static void HandController() {
-  setBtnsHandlers();
-  setP1High();
+  SetBtnsHandlers();
+  SetP1High();
 
   while (true) {
-    setOrientation();
-    updateDisplay();
-    checkPanic();
-    transmittData();
-    readPins();
+    SetOrientation();
+    UpdateDisplay();
+    CheckPanic();
+    TransmittData();
+    ReadPins();
     uBit.sleep(100);
   }
 }
 
 int main() {
   uBit.init();
   initRadio();
-  FlightController();
+  HandController();
   return 0;
 }