Encoder fyrir position í int32, stöðuvél án null-pointera, nefndir fastar, LED gegnum context

include/motor_controller.h

@@ -4,6 +4,7 @@
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
+#include "digital_out.h"
 
 class State;
 
@@ -11,15 +12,21 @@ class State;
 class MotorController
 {
 private:
+    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
+    static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+
     State* current_state;
 
-    State* initialization_state;
-    State* operational_state;
+    State& initialization_state;
+    State& operational_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
     P_controller& controller;
 
+    Digital_out led;
+
     double reference_rpm;
 
 
@@ -27,13 +34,9 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        P_controller& controller
-    );
-
-
-    void set_states(
-        State* initialization,
-        State* operational
+        P_controller& controller,
+        State& initialization,
+        State& operational
     );
 
 
@@ -43,7 +46,7 @@ public:
 
     void command(char c);
 
-    void transition_to(State* new_state);
+    void transition_to(State& new_state);
 
 
     void to_initialization();
@@ -56,6 +59,10 @@ public:
     void stop_motor();
 
     void reset_speed_measurement();
+
+    void led_on();
+
+    void led_off();
 };
 
-#endif
+#endif

include/rotary_encoder_driver.h

@@ -4,37 +4,36 @@
 #include <stdint.h>
 
 #include "digital_in.h"
-//#include "digital_out.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
-    static const uint8_t HIST_LEN = 4;   // 4 x 4 ms = 16 ms gluggi fyrir rpm-utreikning
+public:
+    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
+    static constexpr float COUNTS_PER_REV = 1050.0f;
 
-    volatile uint8_t cycle;
-    volatile int16_t count;
-    volatile int16_t prev_count;
+private:
+    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
+
+    volatile int32_t count;
+    volatile int16_t delta;
     volatile bool speed_ready;
 
-    volatile int16_t history[HIST_LEN];
+    volatile int32_t history[HIST_LEN];
     volatile uint8_t hist_idx;
 
-    //Digital_out led;
-
     Digital_in eA;
     Digital_in eB;
 
     Timer_usec timer;
 
 public:
-    volatile int16_t delta;
-
     RotaryEncoderDriver();
 
     void begin();
 
     void update();
 
-    int position(); 
+    int32_t position();
 
     void update_delta();
 

include/state.h

@@ -6,7 +6,7 @@ class MotorController;
 class State
 {
 protected:
-    MotorController* context;
+    MotorController* context = nullptr;
 
 public:
     virtual ~State()