Nýtt branch og kóðar/files fyrir part 1

include/rotary_encoder_driver.h

@@ -4,11 +4,11 @@
 #include <stdint.h>
 
 #include "digital_in.h"
-#include "digital_out.h"
+//#include "digital_out.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
-    static const uint8_t HIST_LEN = 4;   // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning
+    static const uint8_t HIST_LEN = 4;   // 4 x 4 ms = 16 ms gluggi fyrir rpm-utreikning
 
     volatile uint8_t cycle;
     volatile int16_t count;
@@ -18,7 +18,7 @@ class RotaryEncoderDriver {
     volatile int16_t history[HIST_LEN];
     volatile uint8_t hist_idx;
 
-    Digital_out led;
+    //Digital_out led;
 
     Digital_in eA;
     Digital_in eB;
@@ -29,14 +29,21 @@ public:
     volatile int16_t delta;
 
     RotaryEncoderDriver();
+
     void begin();
+
     void update();
+
     int position(); 
+
     void update_delta();
+
     float count_per_sec();
+
     float rpm();
 
     bool new_speed_available();
+
     void reset_speed_measurement();
 
 };

include/state.h

@@ -0,0 +1,32 @@
+#ifndef STATE_H
+#define STATE_H
+
+class MotorController;
+
+class State
+{
+protected:
+    MotorController* context;
+
+public:
+    virtual ~State()
+    {
+        
+    }
+
+    void set_context(MotorController* context)
+    {
+        this->context = context;
+    }
+
+    virtual void enter() = 0;   // LED ON
+
+    virtual void update() = 0;  // run motor controller
+
+    virtual void command(char c) = 0;   // Listen for reset
+
+    virtual void exit() = 0;  // Stop motor
+
+};
+
+#endif