Improved version and compatible to latest BlueDisplay

Author: ArminJo

src/ADCUtils.h

@@ -29,6 +29,9 @@
 #if defined(__AVR__) && defined(ADCSRA) && defined(ADATE) && (!defined(__AVR_ATmega4809__))
 #define ADC_UTILS_ARE_AVAILABLE
 
+// External Reference Current is 150 uA for 5 V and 100 uA for 3.5 V
+#define READING_FOR_AREF 1024L // Datasheet 24.2: The minimum value represents GND and the maximum value represents the voltage on the AREF pin minus 1 LSB
+
 // PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz

src/ADCUtils.hpp

@@ -28,7 +28,7 @@
 #include "ADCUtils.h"
 #if defined(ADC_UTILS_ARE_AVAILABLE) // set in ADCUtils.h, if supported architecture was detected
 
-#if !defined(STR_HELPER)
+#if !defined(STR)
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
 #endif
@@ -58,7 +58,7 @@ union WordUnionForADCUtils {
  * Enable this to see information on each call.
  * Since there should be no library which uses Serial, it should only be enabled for development purposes.
  */
-#if defined(DEBUG) && !defined(LOCAL_DEBUG)
+#if defined(DEBUG)
 #define LOCAL_DEBUG
 #else
 //#define LOCAL_DEBUG // This enables debug output only for this file
@@ -403,7 +403,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t
         /*
          * Get min and max of the last 4 values
          */
-        tMin = 1024;
+        tMin = READING_FOR_AREF;
         tMax = 0;
         for (uint_fast8_t i = 0; i < 4; ++i) {
             if (tValues[i] < tMin) {
@@ -472,7 +472,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t
 float getVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
     float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    return ((1023 * 1.1 * 4) / tVCC);
+    return ((READING_FOR_AREF * 1.1 * 4) / tVCC);
 }
 
 /*
@@ -483,19 +483,19 @@ float getVCCVoltageSimple(void) {
 uint16_t getVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
     uint16_t tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCC);
+    return ((READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCC);
 }
 
 /*
  * Gets the hypothetical 14 bit reading of VCC using 1.1 volt reference
- * Similar to getVCCVoltageMillivolt() * 1023 / 1100
+ * Similar to getVCCVoltageMillivolt() * 1024 / 1100
  */
 uint16_t getVCCVoltageReadingFor1_1VoltReference(void) {
     uint16_t tVCC = waitAndReadADCChannelWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT);
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    return ((1023L * 1023L) / tVCC);
+    return ((READING_FOR_AREF * READING_FOR_AREF) / tVCC);
 }
 
 /*
@@ -519,7 +519,7 @@ uint16_t getVCCVoltageMillivolt(void) {
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCC);
+    return ((READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCC);
 }
 
 /*
@@ -547,7 +547,7 @@ void readAndPrintVCCVoltageMillivolt(Print *aSerial) {
 void readVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
     float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    sVCCVoltage = (1023 * (((float) ADC_INTERNAL_REFERENCE_MILLIVOLT) / 1000) * 4) / tVCC;
+    sVCCVoltage = (READING_FOR_AREF * (((float) ADC_INTERNAL_REFERENCE_MILLIVOLT) / 1000) * 4) / tVCC;
 }
 
 /*
@@ -558,7 +558,7 @@ void readVCCVoltageSimple(void) {
 void readVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
     uint16_t tVCCVoltageMillivoltRaw = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
-    sVCCVoltageMillivolt = (1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCCVoltageMillivoltRaw;
+    sVCCVoltageMillivolt = (READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCCVoltageMillivoltRaw;
 }
 
 /*
@@ -579,7 +579,7 @@ void readVCCVoltageMillivolt(void) {
     /*
      * Do not switch back ADMUX to enable checkAndWaitForReferenceAndChannelToSwitch() to work correctly for the next measurement
      */
-    sVCCVoltageMillivolt = (1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCCVoltageMillivoltRaw;
+    sVCCVoltageMillivolt = (READING_FOR_AREF * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCCVoltageMillivoltRaw;
 }
 
 /*
@@ -588,7 +588,7 @@ void readVCCVoltageMillivolt(void) {
  */
 uint16_t getVoltageMillivolt(uint16_t aVCCVoltageMillivolt, uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, DEFAULT);
-    return (aVCCVoltageMillivolt * (uint32_t) tInputVoltageRaw) / 1023;
+    return (aVCCVoltageMillivolt * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 /*
@@ -597,16 +597,18 @@ uint16_t getVoltageMillivolt(uint16_t aVCCVoltageMillivolt, uint8_t aADCChannelF
  */
 uint16_t getVoltageMillivolt(uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, DEFAULT);
-    return (getVCCVoltageMillivolt() * (uint32_t) tInputVoltageRaw) / 1023;
+    return (getVCCVoltageMillivolt() * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 uint16_t getVoltageMillivoltWith_1_1VoltReference(uint8_t aADCChannelForVoltageMeasurement) {
     uint16_t tInputVoltageRaw = waitAndReadADCChannelWithReference(aADCChannelForVoltageMeasurement, INTERNAL);
-    return (ADC_INTERNAL_REFERENCE_MILLIVOLT * (uint32_t) tInputVoltageRaw) / 1023;
+    return (ADC_INTERNAL_REFERENCE_MILLIVOLT * (uint32_t) tInputVoltageRaw) / READING_FOR_AREF;
 }
 
 /*
  * Return true if sVCCVoltageMillivolt is > 4.3 V and < 4.95 V
+ * This does not really work for the UNO board, because it has no series Diode in the USB VCC
+ * and therefore a very low voltage drop.
  */
 bool isVCCUSBPowered() {
     readVCCVoltageMillivolt();

src/AutonomousDrive.hpp

@@ -288,10 +288,10 @@ void driveCollisonAvoidingOneStep() {
 
 #if !defined(ENABLE_USER_PROVIDED_COLLISION_DETECTION)
             if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-                char tStringBuffer[6];
-                sprintf_P(tStringBuffer, PSTR("%2d%s"), sCentimetersDrivenPerScan, "cm/scan");
+                char tString[11];
+                snprintf_P(tString, sizeof(tString), PSTR("%2d%s"), sCentimetersDrivenPerScan, "cm/scan");
                 BlueDisplay1.drawText(TEXT_SIZE_11_WIDTH, BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_HEIGHT - TEXT_SIZE_11_DECEND,
-                        tStringBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
+                        tString, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
             }
 #endif
         }

src/AutonomousDrivePage.hpp

@@ -31,15 +31,15 @@ BDButton TouchButtonStepMode;
 const char sStepModeButtonStringContinuousStepToTurn[] PROGMEM = "Continuous\n->\nStep to turn";
 const char sStepModeButtonStringStepToTurnSingleStep[] PROGMEM = "Step to turn\n->\nSingle step";
 const char sStepModeButtonStringSingleStepContinuous[] PROGMEM = "Single step\n->\nContinuous";
-const char *const sStepModeButtonCaptionStringArray[] PROGMEM = { sStepModeButtonStringContinuousStepToTurn,
+const char *const sStepModeButtonTextStringArray[] PROGMEM = { sStepModeButtonStringContinuousStepToTurn,
         sStepModeButtonStringStepToTurnSingleStep, sStepModeButtonStringSingleStepContinuous };
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
 BDButton TouchButtonDistanceFeedbackMode;
 const char sDistanceFeedbackModeNoTone[] PROGMEM = "No tone";
 const char sDistanceFeedbackModePentatonic[] PROGMEM = "Pentatonic";
 const char sDistanceFeedbackModeContinuous[] PROGMEM = "Continuous";
-const char *const sDistanceFeedbackModeButtonCaptionStringArray[] PROGMEM = { sDistanceFeedbackModeNoTone,
+const char *const sDistanceFeedbackModeButtonTextStringArray[] PROGMEM = { sDistanceFeedbackModeNoTone,
         sDistanceFeedbackModePentatonic, sDistanceFeedbackModeContinuous };
 #endif
 
@@ -57,13 +57,13 @@ const char sDistanceSourceModeButtonStringMaxUS[] PROGMEM = "Max->US";
 #  if defined(CAR_HAS_IR_DISTANCE_SENSOR)
 const char sDistanceSourceModeButtonStringUSIr[] PROGMEM = "US->IR";
 const char sDistanceSourceModeButtonStringIrMin[] PROGMEM = "IR->Min";
-const char *const sDistanceSourceModeButtonCaptionStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax,
+const char *const sDistanceSourceModeButtonTextStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax,
         sDistanceSourceModeButtonStringMaxUS, sDistanceSourceModeButtonStringUSIr, sDistanceSourceModeButtonStringIrMin };
 # else
 const char sDistanceSourceModeButtonStringUSTof[] PROGMEM = "US->ToF";
 const char sDistanceSourceModeButtonStringTofMin[] PROGMEM = "ToF->Min";
 
-const char * const sDistanceSourceModeButtonCaptionStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax, sDistanceSourceModeButtonStringMaxUS,
+const char * const sDistanceSourceModeButtonTextStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax, sDistanceSourceModeButtonStringMaxUS,
         sDistanceSourceModeButtonStringUSTof, sDistanceSourceModeButtonStringTofMin};
 #  endif
 #endif
@@ -75,8 +75,8 @@ BDButton TouchButtonStartStopBuiltInAutonomousDrive;
 BDButton TouchButtonFollower;
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
-void setDistanceFeedbackModeButtonCaption() {
-    TouchButtonDistanceFeedbackMode.setCaptionFromStringArrayPGM(sDistanceFeedbackModeButtonCaptionStringArray, sDistanceFeedbackMode, true);
+void setDistanceFeedbackModeButtonText() {
+    TouchButtonDistanceFeedbackMode.setTextFromStringArrayPGM(sDistanceFeedbackModeButtonTextStringArray, sDistanceFeedbackMode, true);
 }
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
@@ -86,12 +86,12 @@ void doNextDistanceFeedbackMode(BDButton *aTheTouchedButton, int16_t aValue) {
         sDistanceFeedbackMode = DISTANCE_FEEDBACK_NO_TONE;
         noTone(BUZZER_PIN);
     }
-    setDistanceFeedbackModeButtonCaption();
+    setDistanceFeedbackModeButtonText();
 }
 #endif
 
-void setStepModeButtonCaption() {
-    TouchButtonStepMode.setCaptionFromStringArray((const __FlashStringHelper* const*) sStepModeButtonCaptionStringArray, sStepMode, (sCurrentPage == PAGE_AUTOMATIC_CONTROL));
+void setStepModeButtonText() {
+    TouchButtonStepMode.setTextFromStringArray((const __FlashStringHelper* const*) sStepModeButtonTextStringArray, sStepMode, (sCurrentPage == PAGE_AUTOMATIC_CONTROL));
 }
 
 /*
@@ -105,7 +105,7 @@ void setStepMode(uint8_t aStepMode) {
         sDoStep = true;
     }
     sStepMode = aStepMode;
-    setStepModeButtonCaption();
+    setStepModeButtonText();
 }
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
@@ -132,16 +132,16 @@ void doStep(BDButton *aTheTouchedButton, int16_t aValue) {
 }
 
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
-void setScanModeButtonCaption() {
-    TouchButtonScanMode.setCaptionFromStringArray(sDistanceSourceModeButtonCaptionStringArray, sDistanceSourceMode);
+void setScanModeButtonText() {
+    TouchButtonScanMode.setTextFromStringArray(sDistanceSourceModeButtonTextStringArray, sDistanceSourceMode);
 }
 
 void doDistanceSourceMode(BDButton *aTheTouchedButton, int16_t aValue) {
     sDistanceSourceMode++;
     if (sDistanceSourceMode > DISTANCE_LAST_SOURCE_MODE) {
         sDistanceSourceMode = DISTANCE_SOURCE_MODE_MINIMUM;
     }
-    setScanModeButtonCaption();
+    setScanModeButtonText();
     TouchButtonScanMode.drawButton();
 }
 
@@ -203,7 +203,7 @@ void initAutonomousDrivePage(void) {
 
     TouchButtonScanSpeed.init(0, BUTTON_HEIGHT_6_LINE_4, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_8, COLOR16_BLACK, F("Scan slow"), TEXT_SIZE_14,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doChangeScanSpeed);
-    TouchButtonScanSpeed.setCaptionForValueTrue("Scan fast");
+    TouchButtonScanSpeed.setTextForValueTrue("Scan fast");
 
 #if defined(ENABLE_PATH_INFO_PAGE)
     TouchButtonPathInfoPage.init(BUTTON_WIDTH_3_POS_3, 0, BUTTON_WIDTH_3, BUTTON_HEIGHT_6, COLOR16_RED, F("Show Path"), TEXT_SIZE_11,
@@ -217,7 +217,7 @@ void initAutonomousDrivePage(void) {
     BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED, F("Start User"), TEXT_SIZE_14,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, (sDriveMode == MODE_COLLISION_AVOIDING_USER),
             &doStartStopTestUser);
-    TouchButtonStartStopUserAutonomousDrive.setCaptionForValueTrue(F("Stop User"));
+    TouchButtonStartStopUserAutonomousDrive.setTextForValueTrue(F("Stop User"));
 #endif
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
@@ -238,12 +238,12 @@ void initAutonomousDrivePage(void) {
     TouchButtonStartStopBuiltInAutonomousDrive.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED,
             F("Start\nBuiltin"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             (sDriveMode == MODE_COLLISION_AVOIDING_BUILTIN), &doStartStopAutomomousDrive);
-    TouchButtonStartStopBuiltInAutonomousDrive.setCaptionForValueTrue(F("Stop"));
+    TouchButtonStartStopBuiltInAutonomousDrive.setTextForValueTrue(F("Stop"));
 
     TouchButtonFollower.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
     COLOR16_RED, F("Start\nFollow"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             (sDriveMode == MODE_FOLLOWER), &doStartStopFollowerMode);
-    TouchButtonFollower.setCaptionForValueTrue(F("Stop\nFollow"));
+    TouchButtonFollower.setTextForValueTrue(F("Stop\nFollow"));
 }
 
 void drawAutonomousDrivePage(void) {
@@ -288,12 +288,12 @@ void startAutonomousDrivePage(void) {
     handleAutomomousDriveRadioButtons();
 
     // restore last step and scan mode
-    setStepModeButtonCaption();
+    setStepModeButtonText();
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
-    setScanModeButtonCaption();
+    setScanModeButtonText();
 #endif
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
-    setDistanceFeedbackModeButtonCaption();
+    setDistanceFeedbackModeButtonText();
 #endif
 #if defined(ENABLE_PATH_INFO_PAGE)
 #define SLIDER_SHIFTED_Y_POS    BUTTON_HEIGHT_6
@@ -309,9 +309,11 @@ void startAutonomousDrivePage(void) {
     SliderIROrTofDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - (TEXT_SIZE_11_WIDTH + BUTTON_WIDTH_10), SLIDER_SHIFTED_Y_POS);
 #endif
     drawAutonomousDrivePage();
+#if defined(VIN_ATTENUATED_INPUT_PIN)
     if(!isPWMCalibrated) {
         calibrateDriveSpeedPWMAndPrint();
     }
+#endif
 }
 
 // currently not used
@@ -367,11 +369,11 @@ void drawCollisionDecision(int aDegreeToTurn, uint8_t aLengthOfVector, bool aDoC
         }
 
         // draw blue (red if backwards) rotation line. The default length is sCentimetersDrivenPerScan
-        BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, aLengthOfVector, tDegreeToDisplay + 90,
+        BlueDisplay1.drawVectorDegree(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, aLengthOfVector, tDegreeToDisplay + 90,
                 tColor);
         if (!aDoClearVector) {
             //Print result
-            sprintf_P(sBDStringBuffer, PSTR("wall%4d\xB0 rotation: %3d\xB0 wall%4d\xB0"), sForwardDistancesInfo.WallLeftAngleDegrees,
+            snprintf_P(sBDStringBuffer, sizeof(sBDStringBuffer), PSTR("wall%4d\xB0 rotation: %3d\xB0 wall%4d\xB0"), sForwardDistancesInfo.WallLeftAngleDegrees,
                     aDegreeToTurn, sForwardDistancesInfo.WallRightAngleDegrees); // \xB0 is degree character
             BlueDisplay1.drawText(BUTTON_WIDTH_3_5_POS_2, US_DISTANCE_MAP_ORIGIN_Y + TEXT_SIZE_11, sBDStringBuffer, TEXT_SIZE_11,
             COLOR16_BLACK, COLOR16_WHITE);

src/BTSensorDrivePage.hpp

@@ -134,7 +134,7 @@ void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackI
                 tDirectionForward, SPEED_DEAD_BAND);
 
         //Print speedPWM as value of bottom slider
-        sprintf(sBDStringBuffer, "%3d", tForwardBackwardValue);
+        snprintf(sBDStringBuffer, sizeof(sBDStringBuffer), "%3d", tForwardBackwardValue);
         SliderBackward.printValue(sBDStringBuffer);
 
         /*
@@ -199,7 +199,7 @@ void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackI
         /*
          * Print speedPWM as value of bottom slider
          */
-        sprintf(sBDStringBuffer, "%4d", tSpeedPWMValue);
+        snprintf(sBDStringBuffer, sizeof(sBDStringBuffer), "%4d", tSpeedPWMValue);
         SliderBackward.printValue(sBDStringBuffer);
         if (tSpeedPWMValue < 0) {
             tLeftRightValue = -tLeftRightValue;
@@ -221,13 +221,13 @@ void initBTSensorDrivePage(void) {
 // Position Slider at middle of screen
 // Top/forward slider
     SliderForward.init(SENSOR_SLIDER_CENTER_X, (SENSOR_SLIDER_CENTER_Y - VERTICAL_SLIDER_LENTGH), SENSOR_SLIDER_WIDTH,
-    VERTICAL_SLIDER_LENTGH, SLIDER_SPEED_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR, FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
+    VERTICAL_SLIDER_LENTGH, SLIDER_SPEED_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR, FLAG_SLIDER_IS_ONLY_OUTPUT, nullptr);
 
 //    SliderForward.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
 
     // Bottom/backward slider
     SliderBackward.init(SENSOR_SLIDER_CENTER_X, SENSOR_SLIDER_CENTER_Y, SENSOR_SLIDER_WIDTH, -(VERTICAL_SLIDER_LENTGH),
-    SLIDER_SPEED_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR, FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
+    SLIDER_SPEED_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR, FLAG_SLIDER_IS_ONLY_OUTPUT, nullptr);
 
 //    SliderBackward.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
     SliderForward.setScaleFactor((float) MAX_SPEED_PWM / (float) VERTICAL_SLIDER_LENTGH);
@@ -238,13 +238,13 @@ void initBTSensorDrivePage(void) {
 // Position slider right from  at middle of screen
     SliderRight.init(SENSOR_SLIDER_CENTER_X + SENSOR_SLIDER_WIDTH, SENSOR_SLIDER_CENTER_Y - (SENSOR_SLIDER_WIDTH / 2),
     SENSOR_SLIDER_WIDTH, HORIZONTAL_SLIDER_LENTGH, SLIDER_LEFT_RIGHT_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR,
-            FLAG_SLIDER_IS_HORIZONTAL | FLAG_SLIDER_IS_ONLY_OUTPUT | FLAG_SLIDER_SHOW_VALUE, NULL);
+            FLAG_SLIDER_IS_HORIZONTAL | FLAG_SLIDER_IS_ONLY_OUTPUT | FLAG_SLIDER_SHOW_VALUE, nullptr);
 //    SliderRight.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
 
 // Position inverse slider left from  at middle of screen
     SliderLeft.init(SENSOR_SLIDER_CENTER_X - HORIZONTAL_SLIDER_LENTGH, SENSOR_SLIDER_CENTER_Y - (SENSOR_SLIDER_WIDTH / 2),
     SENSOR_SLIDER_WIDTH, -(HORIZONTAL_SLIDER_LENTGH), SLIDER_LEFT_RIGHT_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR,
-    SLIDER_BAR_COLOR, FLAG_SLIDER_IS_HORIZONTAL | FLAG_SLIDER_IS_ONLY_OUTPUT | FLAG_SLIDER_SHOW_VALUE, NULL);
+    SLIDER_BAR_COLOR, FLAG_SLIDER_IS_HORIZONTAL | FLAG_SLIDER_IS_ONLY_OUTPUT | FLAG_SLIDER_SHOW_VALUE, nullptr);
 //    SliderLeft.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
     SliderRight.setScaleFactor(1.2);
     SliderLeft.setScaleFactor(1.2);
@@ -268,7 +268,7 @@ void drawBTSensorDrivePage(void) {
 }
 
 void startBTSensorDrivePage(void) {
-    doReset(NULL, 0);
+    doReset(nullptr, 0);
     drawBTSensorDrivePage();
 }