Merging main with Isak_part2 branch

include/motor_controller.h

@@ -18,8 +18,9 @@ private:
 
     State* current_state;
 
-    State& initialization_state;
-    State& operational_state;
+    State* initialization_state;
+    State* operational_state;
+    State* stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
@@ -36,7 +37,8 @@ public:
         MotorDriver& motor,
         P_controller& controller,
         State& initialization,
-        State& operational
+        State& operational,
+        state& stopped
     );
 
 
@@ -53,6 +55,10 @@ public:
 
     void to_operational();
 
+    void to_stopped();
+
+    bool fault_active();
+
 
     void run_speed_controller();
 

include/motor_driver.h

@@ -9,10 +9,14 @@ public:
     void begin();
 
     void forward();
+
     void reverse();
+
     void stop();
 
     void set(double pwm);
+
+    bool fault_active();   // Fault detection for part 2
 };
 
 #endif

include/stopped_state.h

@@ -0,0 +1,25 @@
+#ifndef STOPPED_STATE_H
+#define STOPPED_STATE_H
+
+#include "state.h"
+
+class StoppedState : public State
+{
+private:
+    unsigned long previous_time; // Used for blinking LED
+    bool led_state;              // Ditto
+
+public:
+    StoppedState();
+
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+
+};
+
+#endif