added behaviour alert

Author: gbr1

src/Arduino_Alvik.cpp

@@ -188,6 +188,8 @@ int Arduino_Alvik::begin(const bool verbose, const uint8_t core){
 
   set_illuminator(true);
   set_behaviour(BEHAVIOUR_ILLUMINATOR_RISE);
+  set_behaviour(BEHAVIOUR_BATTERY_ALERT);
+  set_servo_positions(servo_positions[0],servo_positions[1]);
 
   return 0;
 }
@@ -210,6 +212,7 @@ void Arduino_Alvik::idle(){
   while(!is_on()){
     //read battery value
     battery = battery_measure();
+    battery_is_charging = true;
     if (verbose_output){
       Serial.print(round(battery));
       Serial.println("%");
@@ -245,6 +248,7 @@ void Arduino_Alvik::update(const int delay_value){
       wait_for_ack();
       set_illuminator(true);
       set_behaviour(BEHAVIOUR_ILLUMINATOR_RISE);
+      set_behaviour(BEHAVIOUR_BATTERY_ALERT);
     }
     if (read_message()){
       parse_message();
@@ -372,6 +376,8 @@ int Arduino_Alvik::parse_message(){
     // get battery parcentage: state of charge
     case 'p':
       packeter->unpacketC1F(code, battery);
+      battery_is_charging = (battery > 0) ? true : false;
+      battery = abs(battery);
       break;
 
     // nothing is parsed, the command is newer to this library
@@ -927,6 +933,10 @@ int Arduino_Alvik::get_battery_charge(){
   return round(battery);
 }
 
+bool Arduino_Alvik::is_battery_charging(){
+  return battery_is_charging;
+}
+
 
 //-----------------------------------------------------------------------------------------------//
 //                                   leds and peripherials                                       //

src/Arduino_Alvik.h

@@ -88,6 +88,7 @@ class Arduino_Alvik{
     float battery_soc;
     uint16_t battery_val = 0;
     uint8_t battery_v[2];
+    bool battery_is_charging;
 
 
 
@@ -266,6 +267,7 @@ class Arduino_Alvik{
     bool check_firmware_compatibility();
 
     int get_battery_charge();
+    bool is_battery_charging();
 };
 
 

src/definitions.h

@@ -19,11 +19,11 @@
 
 #define LIB_VER_UP 1
 #define LIB_VER_MID 0
-#define LIB_VER_LOW 2
+#define LIB_VER_LOW 3
 
 #define REQUIRED_FW_VER_UP  1
 #define REQUIRED_FW_VER_MID 0
-#define REQUIRED_FW_VER_LOW 3
+#define REQUIRED_FW_VER_LOW 4
 
 
 #define RUN_ON_CORE_0 0
@@ -92,6 +92,7 @@ const float ROTATIONAL_SPEED_UNITS[4] = {1.0, 0.16666666666, 9.54929658551, 60.0
 // behaviours
 #define BEHAVIOUR_DISABLED 0
 #define BEHAVIOUR_ILLUMINATOR_RISE 1
+#define BEHAVIOUR_BATTERY_ALERT 2
 
 
 // colors