// ESPNOWSkate by Lukas Bachschwell this device MASTER =D

#include <Arduino.h>
#include <esp_now.h>
#include <WiFi.h>
#include <U8g2lib.h>
#include <Preferences.h>

#include "mac_config.h"
#include "graphics.h"
#include "accel.h"

TaskHandle_t clickTaskHandle;
Preferences preferences;

#define B_VOLT    0
#define B_VOLT_D  1
#define B_TEMP    2
#define B_TEMP_D  3
#define B_SPEED   4
#define B_SPEED_D 5

uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};

#define M_NORMAL   0 // Limit is a sub of normal
#define M_SELECT   1
#define M_SETTINGS 2
#define M_CRUISE   3
#define M_STEERING 4

//#define steeringInfluential

uint8_t currentMode = M_NORMAL;
uint8_t selectedIndex = 2;

bool lightActive = false;
bool shouldUpdateSettings = false; // Needed to update limitmode on core 1 instead of 0

bool crusing = false;
uint8_t crusingSpeed = 127;

#define DEBUG

#ifdef DEBUG
  #define DEBUG_PRINTLN(x)  Serial.println(x)
  #define DEBUG_PRINT(x)  Serial.print(x)
#else
  #define DEBUG_PRINTLN(x)
  #define DEBUG_PRINT(x)
#endif

bool connected = false;

uint8_t clickCounter = 0;
bool lastTriggerState = false;
long lastClick = 0;
#define clickDiff 250

// Defining variables for OLED display
U8G2_SSD1306_128X64_NONAME_F_SW_I2C u8g2 (U8G2_R2, /* clock=*/ 15, /* data=*/ 4, /* reset=*/ 16);
char displayBuffer[20];
String displayString;
short displayData = 0;
unsigned long lastSignalBlink;
bool signalBlink = false;
unsigned long lastDataRotation;


// Defining variables for Hall Effect throttle.
short hallMeasurement;
int throttle = 127;
uint8_t esc1 = 127;
uint8_t esc2 = 127;

byte hallCenterMargin = 5;

const float minVoltage = 2.9; // These values are heavily strange since the devider is not working nicely yet...
const float maxVoltage = 3.6;
const float refVoltage = 3.3;
// Resistors in Ohms
const float deviderR1 = 1500;
const float deviderR2 = 22000;

// Global copy of board
esp_now_peer_info_t board;
#define CHANNEL 1
#define PRINTSCANRESULTS 0
#define DELETEBEFOREPAIR 0
#define HAL_MIN 1390
#define HAL_MAX 2230
#define HAL_CENTER 1880
#define TRIM_LOW 180
#define TRIM_HIGH 0

//#define pairingMode
#define leverPin 36
#define triggerPin 17
#define batteryMeasurePin 38

bool triggerActive();

#include "settings.h"


void setCrusing(uint8_t speed) {
  if(speed < 127) { // no backward cruse!
    crusing = false;
    crusingSpeed = 127;
  } else {
    crusing = true;
    if(speed > crusingSpeed) crusingSpeed = speed;
  }
}
// ESPNOW functions ##############################
// Scan for boards in AP mode

#ifdef pairingMode
void ScanForBoard() {
  int8_t scanResults = WiFi.scanNetworks();
  // reset on each scan
  bool boardFound = 0;
  memset(&board, 0, sizeof(board));

  DEBUG_PRINTLN("");
  if (scanResults == 0) {
    DEBUG_PRINTLN("No WiFi devices in AP Mode found");
  } else {
    DEBUG_PRINT("Found "); DEBUG_PRINT(scanResults); DEBUG_PRINTLN(" devices ");
    for (int i = 0; i < scanResults; ++i) {
      // Print SSID and RSSI for each device found
      String SSID = WiFi.SSID(i);
      int32_t RSSI = WiFi.RSSI(i);
      String BSSIDstr = WiFi.BSSIDstr(i);

      if (PRINTSCANRESULTS) {
        DEBUG_PRINT(i + 1);
        DEBUG_PRINT(": ");
        DEBUG_PRINT(SSID);
        DEBUG_PRINT(" (");
        DEBUG_PRINT(RSSI);
        DEBUG_PRINT(")");
        DEBUG_PRINTLN("");
      }

      delay(10);
      // Check if the current device starts with `board`
      if (SSID.indexOf("ESK8") == 0) {
        // SSID of interest
        DEBUG_PRINTLN("Found a board.");
        DEBUG_PRINT(i + 1); DEBUG_PRINT(": "); DEBUG_PRINT(SSID); DEBUG_PRINT(" ["); DEBUG_PRINT(BSSIDstr); DEBUG_PRINT("]"); DEBUG_PRINT(" ("); DEBUG_PRINT(RSSI); DEBUG_PRINT(")"); DEBUG_PRINTLN("");
        // Get BSSID => Mac Address of the board
        int mac[6];
        if ( 6 == sscanf(BSSIDstr.c_str(), "%x:%x:%x:%x:%x:%x%c",  &mac[0], &mac[1], &mac[2], &mac[3], &mac[4], &mac[5] ) ) {
          for (int ii = 0; ii < 6; ++ii ) {
            board.peer_addr[ii] = (uint8_t) mac[ii];
          }
        }

        board.channel = CHANNEL; // pick a channel
        board.encrypt = 0; // no encryption

        boardFound = 1;
        // we are planning to have only one board in this example;
        // Hence, break after we find one, to be a bit efficient
        break;
      }
    }
  }

  if (boardFound) {
    DEBUG_PRINTLN("board Found, processing..");
  } else {
    DEBUG_PRINTLN("board Not Found, trying again.");
  }

  // clean up ram
  WiFi.scanDelete();
}
#endif

void deletePeer() {
  const esp_now_peer_info_t *peer = &board;
  const uint8_t *peer_addr = board.peer_addr;
  esp_err_t delStatus = esp_now_del_peer(peer_addr);
  DEBUG_PRINT("board Delete Status: ");
  if (delStatus == ESP_OK) {
    // Delete success
    DEBUG_PRINTLN("Success");
  } else if (delStatus == ESP_ERR_ESPNOW_NOT_INIT) {
    // How did we get so far!!
    DEBUG_PRINTLN("ESPNOW Not Init");
  } else if (delStatus == ESP_ERR_ESPNOW_ARG) {
    DEBUG_PRINTLN("Invalid Argument");
  } else if (delStatus == ESP_ERR_ESPNOW_NOT_FOUND) {
    DEBUG_PRINTLN("Peer not found.");
  } else {
    DEBUG_PRINTLN("Not sure what happened");
  }
}

// Check if the board is already paired with the master.
// If not, pair the board with master
bool manageBoard() {
  if (board.channel == CHANNEL) {
    if (DELETEBEFOREPAIR) {
      deletePeer();
    }

    DEBUG_PRINT("board Status: ");
    const esp_now_peer_info_t *peer = &board;
    const uint8_t *peer_addr = board.peer_addr;
    // check if the peer exists
    bool exists = esp_now_is_peer_exist(peer_addr);
    if ( exists) {
      // board already paired.
      DEBUG_PRINTLN("Already Paired");
      return true;
    } else {
      // board not paired, attempt pair
      esp_err_t addStatus = esp_now_add_peer(peer);
      if (addStatus == ESP_OK) {
        // Pair success
        DEBUG_PRINTLN("Pair success");
        return true;
      } else if (addStatus == ESP_ERR_ESPNOW_NOT_INIT) {
        // How did we get so far!!
        DEBUG_PRINTLN("ESPNOW Not Init");
        return false;
      } else if (addStatus == ESP_ERR_ESPNOW_ARG) {
        DEBUG_PRINTLN("Invalid Argument");
        return false;
      } else if (addStatus == ESP_ERR_ESPNOW_FULL) {
        DEBUG_PRINTLN("Peer list full");
        return false;
      } else if (addStatus == ESP_ERR_ESPNOW_NO_MEM) {
        DEBUG_PRINTLN("Out of memory");
        return false;
      } else if (addStatus == ESP_ERR_ESPNOW_EXIST) {
        DEBUG_PRINTLN("Peer Exists");
        return true;
      } else {
        DEBUG_PRINTLN("Not sure what happened");
        return false;
      }
    }
  } else {
    // No board found to process
    DEBUG_PRINTLN("No board found to process");
    return false;
  }
}

// send data
void sendData() {
  const uint8_t data[] = { esc1, esc2 };
  //const uint8_t data[] = { esc1, esc2, options};


  const uint8_t *peer_addr = board.peer_addr;
  DEBUG_PRINT("Sending: "); DEBUG_PRINTLN(esc1);
  esp_err_t result = esp_now_send(peer_addr, data, sizeof(data));
  DEBUG_PRINT("Send Status: ");
  if(result != ESP_OK) setCrusing(0);
  if (result == ESP_OK) {
    DEBUG_PRINTLN("Success");
  } else if (result == ESP_ERR_ESPNOW_NOT_INIT) {
    // How did we get so far!!
    DEBUG_PRINTLN("ESPNOW not Init.");
  } else if (result == ESP_ERR_ESPNOW_ARG) {
    DEBUG_PRINTLN("Invalid Argument");
  } else if (result == ESP_ERR_ESPNOW_INTERNAL) {
    DEBUG_PRINTLN("Internal Error");
  } else if (result == ESP_ERR_ESPNOW_NO_MEM) {
    DEBUG_PRINTLN("ESP_ERR_ESPNOW_NO_MEM");
  } else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
    DEBUG_PRINTLN("Peer not found.");
  } else {
    DEBUG_PRINTLN("Not sure what happened");
  }
}

// callback when data is sent from Master to board
void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
  char macStr[18];
  snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
           mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
  DEBUG_PRINT("Last Packet Sent to: "); DEBUG_PRINTLN(macStr);
  DEBUG_PRINT("Last Packet Send Status: ");
  if(status == ESP_NOW_SEND_SUCCESS) {
    connected = true;
    DEBUG_PRINTLN("Delivery Success");
  } else {
    connected = false;
    DEBUG_PRINTLN("Delivery Fail");
    setCrusing(0);
  }
}

// callback when data is recv from board
void OnDataRecv(const uint8_t *mac_addr, const uint8_t *data, int data_len) {
  char macStr[18];
  snprintf(macStr, sizeof(macStr), "%02x:%02x:%02x:%02x:%02x:%02x",
           mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
  DEBUG_PRINT("Last Response Recv from: "); DEBUG_PRINTLN(macStr);
  memcpy(boardData, data, data_len);
  DEBUG_PRINT("Recieved data! len: ");
  DEBUG_PRINTLN(data_len);
}

//############ End ESP Now

//############ Hardware Helpers

int c_map(int value, int inMin, int inMax, int outMin, int outMax) {
  return constrain(map(value, inMin, inMax, outMin, outMax), outMin, outMax);
}

// Return true if trigger is activated, false otherwice
bool triggerActive() {
  if (digitalRead(triggerPin) == LOW) {
    vTaskDelay(pdMS_TO_TICKS(0.1));
    if (digitalRead(triggerPin) == LOW) return true;
  } else {
    vTaskDelay(pdMS_TO_TICKS(0.1));
    if (digitalRead(triggerPin) == HIGH) return false;
  }

  return false; // biased to false
}

void calculateThrottlePosition() {
  // Hall sensor reading can be noisy, lets make an average reading.
  int total = 0;
  for (int i = 0; i < 10; i++) {
    total += analogRead(leverPin);
  }

  hallMeasurement = total / 10;
  DEBUG_PRINT("HAL: ");
  DEBUG_PRINTLN(hallMeasurement);

  int maxSpeed = 255;
  if(settings[limitMode] == 1) maxSpeed = 180;

  if (hallMeasurement >= HAL_CENTER) {
    throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed);
  } else {
    throttle = c_map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127);
  }
  // removeing center noise
  if (abs(throttle - 127) < hallCenterMargin) {
    throttle = 127;
  }
}

// Function to calculate and return the remotes battery voltage.
float batteryVoltage() {
  float batteryVoltage = 0.0;
  int total = 0;

  for (int i = 0; i < 10; i++) {
    total += analogRead(batteryMeasurePin);
  }
  batteryVoltage = (refVoltage / 4095.0) * ((float)total / 10.0);
  // Now we have the actual Voltage, lets calculate the value befor the devider
  batteryVoltage = batteryVoltage / ( deviderR1 / (deviderR1 + deviderR2));
  DEBUG_PRINT("Batt: ");
  DEBUG_PRINTLN(batteryVoltage);
  return batteryVoltage;
}

// Function used to indicate the remotes battery level.
int batteryLevel() {
  float voltage = batteryVoltage();

  if (voltage <= minVoltage) {
    return 0;
  } else if (voltage >= maxVoltage) {
    return 100;
  } else {
    return (voltage - minVoltage) * 100 / (maxVoltage - minVoltage);
  }
}

// Take a number of measurements of the WiFi strength and return the average result.
int getStrength(int points){
  long rssi = 0;
  long averageRSSI=0;
  if (points == 1) return WiFi.RSSI();

  for (int i=0; i < points; i++) {
    rssi += WiFi.RSSI();
    delay(20);
  }

  averageRSSI=rssi/points;
  DEBUG_PRINT("RSSI: ");
  DEBUG_PRINTLN(averageRSSI);
  return averageRSSI;
}

void checkClicks(void * parameter) {
  for (;;) {
    //DEBUG_PRINT("Trig: "); DEBUG_PRINT(triggerActive()); DEBUG_PRINT(" LAST: "); DEBUG_PRINTLN(lastTriggerState);
    if(millis()-lastClick > clickDiff && clickCounter!=0) {
      DEBUG_PRINTLN("reset");
      clickCounter = 0;
    }

    if(!triggerActive() && lastTriggerState) {
      DEBUG_PRINTLN("CLICK##################### ");
      int timeSinceLastClick = millis()-lastClick;
      lastClick = millis();

      if(currentMode == M_SELECT) {
        switch(selectedIndex) {
        case 0:
          currentMode = M_SETTINGS;
          break;
        case 1:
          if(settings[limitMode] == 0) settings[limitMode] = 1;
          else settings[limitMode] = 0;
          shouldUpdateSettings = true;
          currentMode = M_NORMAL;
          break;
        case 2:
          lightActive = !lightActive;
          currentMode = M_NORMAL;
          break;
        case 3:
          currentMode = M_STEERING;
          break;
        case 4:
          currentMode = M_CRUISE;
          break;
        }
      }

      if(timeSinceLastClick < clickDiff) clickCounter++;
      else clickCounter = 1;
      if(clickCounter == 3) {
        DEBUG_PRINTLN("YEAH TRIPPLE");

        if(currentMode == M_NORMAL) {
          currentMode = M_SELECT;
          selectedIndex = 2;
        } else {
          currentMode = M_NORMAL;
        }

        vTaskDelay(pdMS_TO_TICKS(2000));
      }

      lastClick = millis();
      lastTriggerState = false;
    } else if(triggerActive()) {
      lastTriggerState = true;
    }
    vTaskDelay(pdMS_TO_TICKS(20));
  }
}

//############ End Hardware Helpers

//############ Drawing Functions

void drawBatteryLevel() {
  int level = batteryLevel();

  // Position on OLED
  int x = 108; int y = 4;

  u8g2.drawFrame(x + 2, y, 18, 9);
  u8g2.drawBox(x, y + 2, 2, 5);

  for (int i = 0; i < 5; i++) {
    int p = round((100 / 5) * i);
    if (p <= level)
    {
      u8g2.drawBox(x + 4 + (3 * i), y + 2, 2, 5);
    }
  }
}

void drawThrottle() {
  int x = 0;
  int y = 18;
  uint8_t displayThrottle = throttle;
  if(crusing) displayThrottle = crusingSpeed;
  // Draw throttle
  u8g2.drawHLine(x, y, 52);
  u8g2.drawVLine(x, y, 10);
  u8g2.drawVLine(x + 52, y, 10);
  u8g2.drawHLine(x, y + 10, 5);
  u8g2.drawHLine(x + 52 - 4, y + 10, 5);

  if (displayThrottle >= 127) {
    int width = map(displayThrottle, 127, 255, 0, 49);

    for (int i = 0; i < width; i++) {
      u8g2.drawVLine(x + i + 2, y + 2, 7);
    }
  } else {
    int width = map(displayThrottle, 0, 126, 49, 0);
    for (int i = 0; i < width; i++) {
      u8g2.drawVLine(x + 50 - i, y + 2, 7);
    }
  }
}

void drawSignal() {
  // Position on OLED
  int x = 114; int y = 17;
  if (connected == true) {
    if (triggerActive()) {
      u8g2.drawXBM(x, y, 12, 12, signal_transmitting_bits);
    } else {
      u8g2.drawXBM(x, y, 12, 12, signal_connected_bits);
    }
  } else {
    if (millis() - lastSignalBlink > 500) {
      signalBlink = !signalBlink;
      lastSignalBlink = millis();
    }

    if (signalBlink == true) {
      u8g2.drawXBM(x, y, 12, 12, signal_connected_bits);
    } else {
      u8g2.drawXBM(x, y, 12, 12, signal_noconnection_bits);
    }
  }
}

void drawTitleScreen(String title) {
  u8g2.firstPage();
  do {
    title.toCharArray(displayBuffer, 20);
    u8g2.setFont(u8g2_font_helvR10_tr  );
    u8g2.drawStr(12, 20, displayBuffer);
  } while ( u8g2.nextPage() );
  delay(1500);
}



void drawPage() {
  int decimals;
  String suffix;
  String prefix;

  int first, last;

  int x = 0;
  int y = 16;

  // Rotate the realtime data each 4s.
  if ((millis() - lastDataRotation) >= 4000) {

    lastDataRotation = millis();
    displayData++;

    if (displayData > 2) {
      displayData = 0;
    }
  }

  switch (displayData) {
  case 0:
    //value = ratioRpmSpeed * data.rpm;
    first = boardData[B_TEMP];
    last = boardData[B_TEMP_D];
    suffix = "C";
    prefix = "BOX TEMP";
    decimals = 2;
    break;
  case 1:
    //value = ratioPulseDistance * data.tachometerAbs;
    // TODO : check how that will work once hal is wired
    first = boardData[B_SPEED];
    last = boardData[B_SPEED_D];
    suffix = "KmH";
    prefix = "SPEED";
    decimals = 2;
    break;
  case 2:
    first = boardData[B_VOLT];
    last = boardData[B_VOLT_D];
    suffix = "V";
    prefix = "BATTERY";
    decimals = 2;
    break;
  }

  // Display prefix (title)
  displayString = prefix;
  displayString.toCharArray(displayBuffer, 10);
  u8g2.setFont(u8g2_font_profont12_tr);
  u8g2.drawStr(x, y - 1, displayBuffer);

  // Add leading zero
  if (first <= 9) {
    if(connected) displayString = "0" + (String)first;
    else displayString = "--";
  } else {
    if(connected) displayString = (String)first;
    else displayString = "--";
  }

  // Display numbers
  displayString.toCharArray(displayBuffer, 4);
  u8g2.setFont(u8g2_font_logisoso22_tn );
  u8g2.drawStr(x + 55, y + 13, displayBuffer);

  // Display decimals
  // Add leading zero
  if (last <= 9) {
    if(connected) displayString = ".0" + (String)last;
    else displayString = ".--";
  } else {
    if(connected) displayString = "." + (String)last;
    else displayString = ".--";
  }

  // Display decimals
  displayString.toCharArray(displayBuffer, decimals + 2);
  u8g2.setFont(u8g2_font_profont12_tr);
  u8g2.drawStr(x + 86, y - 1, displayBuffer);

  // Display suffix
  displayString = suffix;
  displayString.toCharArray(displayBuffer, 10);
  u8g2.setFont(u8g2_font_profont12_tr);
  u8g2.drawStr(x + 86 + 2, y + 13, displayBuffer);

}

void controlSelect() {
  if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
    // Up
    if (selectedIndex != 0) {
      selectedIndex--;
      settingsLoopFlag = true;
    }
  } else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue]
    // Down
    if (selectedIndex < 4) {
      selectedIndex++;
      settingsLoopFlag = true;
    }
  } else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue]
    settingsLoopFlag = false;
  }
}

String selectionItems[5]  = {
  "Se","Li","B","St","Cr"
};

void drawSelectionMenu() {
  const uint8_t y = 35;
  const uint8_t xStart = 10;
  const uint8_t xSpace = 20;

  u8g2.setFontMode(0);
  u8g2.setDrawColor(1);

  String title = "Select Action";
  title.toCharArray(displayBuffer, 20);
  u8g2.setFont(u8g2_font_helvR10_tr  );
  u8g2.drawStr(20, 12, displayBuffer);

  for(int i = 0; i < 5; i++) {
    if(selectedIndex == i) {
      u8g2.setFontMode(0);
      u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15);
      u8g2.setDrawColor(0);
    }

    selectionItems[i].toCharArray(displayBuffer, 10);
    u8g2.setFont(u8g2_font_profont12_tr);
    u8g2.drawStr(xStart + xSpace * i, y, displayBuffer);

    u8g2.setFontMode(0);
    u8g2.setDrawColor(1);
  }
}

void drawLight() {
  if(lightActive) {
    displayString = "Light";
    displayString.toCharArray(displayBuffer, 12);
    u8g2.setFont(u8g2_font_profont10_tr);
    u8g2.drawStr(100, 38, displayBuffer);
  }
}

void drawMode() {
  if(currentMode == M_STEERING) {
    displayString = (String)esc1 + " |S| " + (String)esc2;
    displayString.toCharArray(displayBuffer, 12);
    u8g2.setFont(u8g2_font_profont12_tr);
    u8g2.drawStr(25, 50, displayBuffer);
  } else if(currentMode == M_NORMAL && settings[limitMode] == 1) {
    displayString = "LIM";
    displayString.toCharArray(displayBuffer, 12);
    u8g2.setFont(u8g2_font_profont12_tr);
    u8g2.drawStr(105, 50, displayBuffer);
  } else if(currentMode == M_CRUISE) {
    if(crusing) {
      displayString = "ACTIVE: " + (String) crusingSpeed;
      displayString.toCharArray(displayBuffer, 12);
      u8g2.setFont(u8g2_font_profont12_tr);
      u8g2.drawStr(0, 50, displayBuffer);
    } else {
      displayString = "Inactive";
      displayString.toCharArray(displayBuffer, 12);
      u8g2.setFont(u8g2_font_profont12_tr);
      u8g2.drawStr(0, 50, displayBuffer);
    }

    displayString = "CRU";
    displayString.toCharArray(displayBuffer, 12);
    u8g2.setFont(u8g2_font_profont12_tr);
    u8g2.drawStr(105, 50, displayBuffer);
  }
}

void updateMainDisplay() {

  u8g2.firstPage();
  do {
    if(currentMode == M_SELECT) {
      drawSelectionMenu();
    } else if (currentMode == M_SETTINGS) {
      drawSettingsMenu();
      drawSettingNumber();
    } else {
      drawThrottle();
      drawPage();
      drawBatteryLevel();
      drawSignal();
      drawLight();
      drawMode();
    }

  } while ( u8g2.nextPage() );
}

void drawStartScreen() {
  u8g2.firstPage();
  do {
    u8g2.drawXBM( 4, 4, 24, 24, logo_bits);

    displayString = "Esk8 remote";
    displayString.toCharArray(displayBuffer, 12);
    u8g2.setFont(u8g2_font_helvR10_tr  );
    u8g2.drawStr(34, 22, displayBuffer);
  } while ( u8g2.nextPage() );
  delay(800);
}

//############ End Drawing Functions

void setup() {
  Serial.begin(115200);
  //Set device in STA mode to begin with
  WiFi.mode(WIFI_STA);
  DEBUG_PRINTLN("ESPNowSkate");

  loadSettings();

  // reset the screen
  pinMode(16, OUTPUT);
  digitalWrite(16, LOW); // set GPIO16 low to reset OLED
  delay(50);
  digitalWrite(16, HIGH);

  analogSetPinAttenuation(batteryMeasurePin, ADC_6db);

  // setup other pins
  pinMode(triggerPin, INPUT_PULLUP);

  xTaskCreatePinnedToCore(
    checkClicks,
    "click task",
    1000,
    NULL,
    1,
    &clickTaskHandle,
    0);

  initAccel();

  DEBUG_PRINTLN("ESPNowSkate Sender");
  u8g2.begin();
  drawStartScreen();

  if (triggerActive()) {
    currentMode = M_SETTINGS;
    drawTitleScreen("Remote Settings");
  }

  // This is the mac address of the Master in Station Mode
  DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress());

  if (esp_now_init() == ESP_OK) {
    DEBUG_PRINTLN("ESPNow Init Success");
  }
  else {
    DEBUG_PRINTLN("ESPNow Init Failed");
    ESP.restart();
  }

  // Once ESPNow is successfully Init, we will register for Send CB to
  // get the status of Trasnmitted packet
  esp_now_register_send_cb(OnDataSent);
  //ScanForBoard();

  // Once ESPNow is successfully Init, we will register for recv CB to
  // get recv packer info.
  esp_now_register_recv_cb(OnDataRecv);


  // Retrieve board from config:
  for (int i = 0; i < 6; ++i ) {
    board.peer_addr[i] = (uint8_t) mac_receiver[i];
  }
  board.channel = CHANNEL; // pick a channel
  board.encrypt = 0; // no encryption
}

void loop() {
  updateMainDisplay();

  if(currentMode == M_STEERING) readAccel();

  Serial.print("Accel Value Left Right( Y): ");
  Serial.print(map(AcY, -15000, 15000, -100, 100));
  Serial.print("Help(Y): ");
  Serial.println(map(GyY, -15000, 15000, -100, 100));

  calculateThrottlePosition();

  if (currentMode == M_SELECT) {
    controlSelect();
    esc1 = 127;
    esc2 = 127;
  } else if (currentMode == M_SETTINGS) {
    // Use throttle and trigger to change settings
    controlSettingsMenu();
  } else {
    // Use throttle and trigger to drive motors
    if (triggerActive()) {
      if(currentMode == M_STEERING) {
        DEBUG_PRINT("Value: ");
        int map = c_map(AcX, 15000, -15000, -60, 60);
        DEBUG_PRINTLN(map);

#ifdef steeringInfluential
        esc1 = (uint8_t) constrain(throttle - map, 0, 200);
        esc2 = (uint8_t) constrain(throttle + map, 0, 200);
#else
        esc1 = (uint8_t) constrain(127 - map, 0, 200);
        esc2 = (uint8_t) constrain(127 + map, 0, 200);
        if(-10 < map && map < 10) {
          esc1 = throttle;
          esc2 = throttle;
        }
#endif
        if(throttle == 127) {
          esc1 = 127;
          esc2 = 127;
        }

        DEBUG_PRINT("SteeringMode: ESC1: "); DEBUG_PRINT(esc1); DEBUG_PRINT(" ESC2: "); DEBUG_PRINTLN(esc2);
      } else if(currentMode == M_CRUISE) {

        setCrusing(throttle);

        esc1 = (uint8_t) throttle;
        esc2 = (uint8_t) throttle;

        if(crusing) {
          esc1 = (uint8_t) crusingSpeed;
          esc2 = (uint8_t) crusingSpeed;
        }

      } else {
        esc1 = (uint8_t) throttle;
        esc2 = (uint8_t) throttle;
      }

    } else {
      // 127 is the middle position - no throttle and no brake/reverse
      esc1 = 127;
      esc2 = 127;
      if(crusing) setCrusing(0);
    }
  }

  // If board is found, it would be populate in `board` variable
  // We will check if `board` is defined and then we proceed further
  if (board.channel == CHANNEL) { // check if board channel is defined
    // `board` is defined
    // Add board as peer if it has not been added already
    bool isPaired = manageBoard();
    if (isPaired) {
      sendData();
    } else {
      // board pair failed
      DEBUG_PRINTLN("board not found / paired!");
    }
  }
  else {
    // No board found to process
  }

  if(shouldUpdateSettings) {
    updateSettings();
    shouldUpdateSettings = false;
  }
}