Show battery percentage on menu, add battery multiplier to config

lib/default_config.py

-esp_default_name = "Open-Cube01"
\ No newline at end of file
+esp_default_name = "Open-Cube01"
+battery_multiplier = 1
\ No newline at end of file

lib/robot_consts.py

@@ -72,7 +72,7 @@ class Color:
     WHITE: Color = const(6)
     BROWN: Color = const(7)
 
-BAT_VOLTAGE_TURNOFF = 6.2			# Volts
+BAT_VOLTAGE_TURNOFF = 6.3			# Volts
 BAT_MEASURE_PERIOD = const(1000)	# ms
 
 PCF_CHECK_PERIOD = const(50)		# ms

main/config.py

-esp_default_name = "Open-Cube01"
\ No newline at end of file
+esp_default_name = "Open-Cube01"
+battery_multiplier = 0.8
\ No newline at end of file

main/main.py

 import utime
+s = utime.ticks_ms() 
 import os
 import sys
 import micropython
 import gc
-
+print("Import time: ", utime.ticks_ms() - s)
+s = utime.ticks_ms() 
 from lib.robot import Robot
 from lib.robot_consts import Button, Port
-
+print("Import time: ", utime.ticks_ms() - s)
+s = utime.ticks_ms() 
 import menu_programs
-
+print("Import time: ", utime.ticks_ms() - s)
+s = utime.ticks_ms() 
 try:
-    from config import *
+    from config import esp_default_name, battery_multiplier
 except:
-    from lib.default_config import *
-
+    from lib.default_config import esp_default_name, battery_multiplier
+print("Import time: ", utime.ticks_ms() - s)
 # Allocate exception buffer for interrupt handlers
 micropython.alloc_emergency_exception_buf(100)
 
@@ -40,7 +44,7 @@ def main():
     FILE_SIZE_IDX = 6
     MAX_ERROR_LOG_SIZE = 10000
     DISPLAY_TITLE_POS = 18
-    DISPLAY_PROG_POS = 45
+    DISPLAY_PROG_POS = 42
     DISPLAY_ARROW_GAP = 10
     ESP_MAX_RESET_FAILED = 5
     menu_programs_functions = (('NXT Light', menu_programs.nxt_light_run), ('NXT Sound', menu_programs.nxt_sound_run), 
@@ -56,11 +60,18 @@ def main():
 
     # Fill framebuffer with battery voltage
     def display_fill_battery(robot, bat_voltage):
-        robot.display.text('{:.2f}V'.format(bat_voltage), 87, 0, 1)
+        bat_percentage = int((bat_voltage - 6.5) / (8.4 - 6.5) * 20) * 5
+        bat_percentage = 100 if bat_percentage > 100 else 0 if bat_percentage < 0 else bat_percentage
+
+        robot.display.line(0, 13, 128, 13, 1)
+        robot.display.text('{:3d}%'.format(bat_percentage), 3, 3, 1)
+        robot.display.centered_text('acc', 3, 1)
+        robot.display.text('{:.2f}V'.format(bat_voltage), 84, 3, 1)
 
     # Fill framebuffer with programs menu 
     def display_fill_programs(robot, program_list, current_program):
         robot.display.fill(0)
+        robot.display.rect(0, 0, 128, 64, 1)
         robot.display.centered_text('< Programs >', DISPLAY_TITLE_POS, 1)
         if len(program_list) > 0:
             robot.display.centered_text(program_list[current_program][0][:-3], DISPLAY_PROG_POS, 1)
@@ -128,6 +139,7 @@ def main():
     def display_fill_arrows(robot):
         robot.display.centered_text('^', DISPLAY_PROG_POS - DISPLAY_ARROW_GAP, 1)
         robot.display.centered_text('v', DISPLAY_PROG_POS + DISPLAY_ARROW_GAP, 1)
+
     # Show program error on display
     def display_show_error(robot):
         robot.display.fill(0)
@@ -242,6 +254,7 @@ def main():
     button_values = robot.buttons.pressed()
     esp_reset_failed_counter = 0
     display_show_startup(robot)
+    robot.battery.set_multiplier(battery_multiplier)
 
     # Get a list of user programs
     program_list = []

micropython/modules/opencube_brick/battery.c

@@ -10,6 +10,7 @@
 typedef struct {
     mp_obj_base_t base;
     float last_value;
+    float multiplier;
     alarm_pool_t *timer_pool;
     repeating_timer_t timer;
 } battery_obj_t;
@@ -20,7 +21,7 @@ static void battery_print(const mp_print_t *print, mp_obj_t self_in);
 
 void read_voltage(battery_obj_t *self) {
     adc_select_input(VBATT_ADC_CHANNEL);
-    self->last_value = adc_read() * VBATT_SCALE_FACTOR * VBATT_REF_VOLTAGE / VBATT_ADC_MAX_CODE;
+    self->last_value = adc_read() * VBATT_SCALE_FACTOR * VBATT_REF_VOLTAGE / VBATT_ADC_MAX_CODE * self->multiplier;
 }
 
 bool read_voltage_handler(repeating_timer_t *timer) {
@@ -46,6 +47,13 @@ STATIC mp_obj_t battery_voltage(mp_obj_t self_in) {
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(battery_voltage_obj, battery_voltage);
 
+STATIC mp_obj_t battery_set_multiplier(mp_obj_t self_in, mp_obj_t multiplier) {
+    battery_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    self->multiplier = mp_obj_get_float(multiplier);
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(battery_set_multiplier_obj, battery_set_multiplier);
+
 STATIC mp_obj_t battery_deinit(mp_obj_t self_in) {
     battery_obj_t *self = MP_OBJ_TO_PTR(self_in);
     alarm_pool_cancel_alarm(self->timer_pool, self->timer.alarm_id);
@@ -57,7 +65,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(battery_deinit_obj, battery_deinit);
 STATIC mp_obj_t battery_make_new(const mp_obj_type_t* type, size_t n_args, size_t n_kw, const mp_obj_t* args) {
     battery_obj_t *self = m_new_obj_with_finaliser(battery_obj_t);
     self->base.type = type;
-
+    self->multiplier = 1.0;
     // Initialise the ADC peripheral if it's not already running.
     // (this check is borrowed from machine_adc.c)
     if (!(adc_hw->cs & ADC_CS_EN_BITS))
@@ -85,6 +93,7 @@ STATIC mp_obj_t battery_make_new(const mp_obj_type_t* type, size_t n_args, size_
 STATIC const mp_rom_map_elem_t battery_locals_dict[] = {
     { MP_ROM_QSTR(MP_QSTR_read_voltage), MP_ROM_PTR(&battery_read_voltage_obj) },
     { MP_ROM_QSTR(MP_QSTR_voltage), MP_ROM_PTR(&battery_voltage_obj) },
+    { MP_ROM_QSTR(MP_QSTR_set_multiplier), MP_ROM_PTR(&battery_set_multiplier_obj) },
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&battery_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&battery_deinit_obj) },
 };