Merging main with Isak_part2 branch

2026-09-30 13:38:27 +00:00
parent be4cf10d7e 484686f8d1
commit 1d93605cc3
9 changed files with 166 additions and 4 deletions
@@ -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();