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

src/main.cpp

@@ -1,87 +1,28 @@
-#include <avr/io.h>
+int main()
-#include <util/delay.h>
+{
-#include <Arduino.h>
-
-#include "rotary_encoder_driver.h"
-#include "motor_driver.h"
-#include "p_controller.h"
-
-RotaryEncoderDriver encoder;
-MotorDriver motor;
-
-P_controller controller(12.5);
-
-const double REF_RPM1 = 30.0;
-const double REF_RPM2 = 50.0;
-
-const uint16_t STEP1_AT_SAMPLE = 50; 
-const uint16_t STEP2_AT_SAMPLE = 500;
-
-const uint16_t STOP_AT_SAMPLE = 1000;  
-
-int main() {
     init();
+
     Serial.begin(115200);
 
     cli();
+
     encoder.begin();
     motor.begin();
+
     sei();
 
-    // Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
+    system.begin();
-    motor.stop();
-    _delay_ms(2000);
 
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
+    while (true)
-    Serial.println("0.0,0.0,0.0,0.0,0.0");
+    {
-
+        if (Serial.available())
-    encoder.reset_speed_measurement();
+        {
-
+            char c = Serial.read();
-    uint16_t sample = 0;
+            system.command(c);
-    double ref = 0.0;
-
-    while (true) {
-        if (encoder.new_speed_available()) {
-            sample++;
-
-            float time_ms = sample * 4.0f;
-
-            // Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
-            if (sample == STEP1_AT_SAMPLE) {
-                ref = REF_RPM1;
         }
 
-            if (sample == STEP2_AT_SAMPLE) {
+        system.update();
-                ref = REF_RPM2;
     }
 
-            double actual = encoder.rpm();
-
-            double pwm_percent   = controller.update(ref, actual);  
-            double pwm_requested = pwm_percent * 2.55;               
-
-            double pwm_actual = pwm_requested;                       
-            if (pwm_actual > 255.0)  pwm_actual = 255.0;
-            if (pwm_actual < -255.0) pwm_actual = -255.0;
-
-            motor.set(pwm_actual);
-
-            Serial.print(time_ms, 1);
-            Serial.print(",");
-            Serial.print(ref, 1);
-            Serial.print(",");
-            Serial.print(actual, 2);
-            Serial.print(",");
-            Serial.print(pwm_requested, 1);
-            Serial.print(",");
-            Serial.println(pwm_actual, 1);
-
-            if (sample >= STOP_AT_SAMPLE) {
-                motor.stop();
-                while (true) {
-                }
-            }
-        }
-    }
     return 0;
 }

src/main_P2.cpp

@@ -0,0 +1,88 @@
+/* #include <avr/io.h>
+#include <util/delay.h>
+#include <Arduino.h>
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "p_controller.h"
+
+RotaryEncoderDriver encoder;
+MotorDriver motor;
+
+P_controller controller(12.5);
+
+const double REF_RPM1 = 30.0;
+const double REF_RPM2 = 50.0;
+
+const uint16_t STEP1_AT_SAMPLE = 50; 
+const uint16_t STEP2_AT_SAMPLE = 500;
+
+const uint16_t STOP_AT_SAMPLE = 1000;  
+
+int main() {
+    init();
+    Serial.begin(115200);
+
+    cli();
+    encoder.begin();
+    motor.begin();
+    sei();
+
+    // Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
+    motor.stop();
+    _delay_ms(2000);
+
+    Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
+    Serial.println("0.0,0.0,0.0,0.0,0.0");
+
+    encoder.reset_speed_measurement();
+
+    uint16_t sample = 0;
+    double ref = 0.0;
+
+    while (true) {
+        if (encoder.new_speed_available()) {
+            sample++;
+
+            float time_ms = sample * 4.0f;
+
+            // Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
+            if (sample == STEP1_AT_SAMPLE) {
+                ref = REF_RPM1;
+            }
+
+            if (sample == STEP2_AT_SAMPLE) {
+                ref = REF_RPM2;
+            }
+
+            double actual = encoder.rpm();
+
+            double pwm_percent   = controller.update(ref, actual);  
+            double pwm_requested = pwm_percent * 2.55;               
+
+            double pwm_actual = pwm_requested;                       
+            if (pwm_actual > 255.0)  pwm_actual = 255.0;
+            if (pwm_actual < -255.0) pwm_actual = -255.0;
+
+            motor.set(pwm_actual);
+
+            Serial.print(time_ms, 1);
+            Serial.print(",");
+            Serial.print(ref, 1);
+            Serial.print(",");
+            Serial.print(actual, 2);
+            Serial.print(",");
+            Serial.print(pwm_requested, 1);
+            Serial.print(",");
+            Serial.println(pwm_actual, 1);
+
+            if (sample >= STOP_AT_SAMPLE) {
+                motor.stop();
+                while (true) {
+                }
+            }
+        }
+    }
+    return 0;
+}
+ */

src/rotary_encoder_driver.cpp

@@ -12,17 +12,20 @@ RotaryEncoderDriver::RotaryEncoderDriver()
     , led(5)
     , eA(2)
     , eB(5)
+    , delta(0)
 {
-    for (uint8_t i = 0; i < HIST_LEN; i++) {
+    for (uint8_t i = 0; i < HIST_LEN; i++) 
+    {
         history[i] = 0;
     }
 }
 
 
-void RotaryEncoderDriver::begin() {
+void RotaryEncoderDriver::begin() 
+{
     driver = this;
 
-    led.init();
+    //led.init();
     eA.init();
     eB.init();
 
@@ -32,12 +35,14 @@ void RotaryEncoderDriver::begin() {
     timer.init(4000);
 }
 
-void RotaryEncoderDriver::update() {
+void RotaryEncoderDriver::update() 
+{
     count += eB.is_hi() ? 1 : -1;
-    led.set_hi();
+    //led.set_hi();
 }
 
-int RotaryEncoderDriver::position() {
+int RotaryEncoderDriver::position() 
+{
 
     uint8_t oldSREG = SREG;
 
@@ -47,27 +52,31 @@ int RotaryEncoderDriver::position() {
 
     SREG = oldSREG;
 
-    led.set_lo();
+    //led.set_lo();
 
     return local_count;
 } 
 
-void RotaryEncoderDriver::update_delta() {
+void RotaryEncoderDriver::update_delta() 
+{
 
     int16_t oldest = history[hist_idx];
+
     history[hist_idx] = count;
+
     hist_idx = (hist_idx + 1) % HIST_LEN;
 
-    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (40 ms) glugga
+    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (16 ms) glugga
 
     prev_count = count;
 
     speed_ready = true;
 
-    led.set_lo();
+    //led.set_lo();
 }
 
-float RotaryEncoderDriver::count_per_sec() {
+float RotaryEncoderDriver::count_per_sec() 
+{
 
     uint8_t oldSREG = SREG;
 
@@ -118,18 +127,22 @@ void RotaryEncoderDriver::reset_speed_measurement()
     delta = 0;
     speed_ready = false;
 
-    for (uint8_t i = 0; i < HIST_LEN; i++) {
+    for (uint8_t i = 0; i < HIST_LEN; i++) 
+    {
         history[i] = count;
     }
+
     hist_idx = 0;
 
     SREG = oldSREG;
 }
 
-ISR(INT0_vect) {
+ISR(INT0_vect) 
+{
     driver->update();
 }
-ISR(TIMER1_COMPA_vect) {
+ISR(TIMER1_COMPA_vect) 
+{
     driver->update_delta();    
 }