From 2f0027b68b62c2fdfa2ca31c5f6f00232602babb Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Tue, 21 Feb 2023 11:49:25 +0100
Subject: [PATCH] improve battery tracking

---
 lib/Battery/battery.cpp |  6 ++++++
 lib/Battery/battery.h   | 15 +++++++++++++++
 src/main.cpp            |  8 +++++---
 3 files changed, 26 insertions(+), 3 deletions(-)

diff --git a/lib/Battery/battery.cpp b/lib/Battery/battery.cpp
index 3ea195e..1bb1af5 100644
--- a/lib/Battery/battery.cpp
+++ b/lib/Battery/battery.cpp
@@ -33,6 +33,12 @@ double Battery::getBatteryVoltage() {
     return (int)(res*100+0.5)/100.0;
 }
 
+bool Battery::isBatteryLow(uint8_t percent) {
+    if (this->getBatteryPercent() <= percent && this->batteryVoltage > this->absurdLowVoltage)
+        return true;
+    return false;
+}
+
 double Battery::readInputVoltage() {
     // Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095
     double reading = analogRead(this->pin);
diff --git a/lib/Battery/battery.h b/lib/Battery/battery.h
index 03911bd..bea1ec5 100644
--- a/lib/Battery/battery.h
+++ b/lib/Battery/battery.h
@@ -73,13 +73,28 @@ class Battery {
          */
         uint8_t getBatteryPercent()   {return this->batteryPercent;}
 
+        /**
+         * @brief Checks if the battery is low.
+         * 
+         * The function will also return false if the battery voltage is
+         * absurd low. This is for the case that the uController is powered
+         * by usb and no battery is connected.
+         * 
+         * @param percent the limit the battery have to
+         * @return true if the battery is low
+         * @return false if the battery is high
+         */
+        bool isBatteryLow(uint8_t percent);
+
     private:
         double readInputVoltage();
         void calculateBatteryVoltage();
         void calculateBatteryPercent();
 
+        uint8_t absurdLowVoltage = 5;
         uint8_t pin;
         uint8_t batteryPercent;
+        uint8_t batteryLowPercent = 10;
         uint16_t delay = 20000;
         uint32_t r1;
         uint32_t r2;
diff --git a/src/main.cpp b/src/main.cpp
index 1680c9a..f4152d7 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -142,17 +142,19 @@ void loop() {
     lcdWrapper->loop();
 
     mainBattery->loop();
-    if (mainBattery->getBatteryPercent() <= 10) {
+    if (mainBattery->isBatteryLow(10)) {
         moveController.setDrivingStatus(DrivingStatus::stop);
         moveController.setSpeed(0);
         moveController.setRotationSpeed(0);
 
+        uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
+
         lcd->setCursor(0, 0);
-        lcd->printf("Low Battery...");
+        lcd->printf("Low Battery: %u", voltage);
         lcd->setCursor(0, 1);
         lcd->print("Please turn off.");
         
-        while (1);        
+        while (true);
     }
 
     if (disconnectPs3) {