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

src/motor_controller.cpp

@@ -7,45 +7,41 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller
+    P_controller& controller,
+    State& initialization,
+    State& operational
 )
     : current_state(nullptr),
-      initialization_state(nullptr),
-      operational_state(nullptr),
+      initialization_state(initialization),
+      operational_state(operational),
       encoder(encoder),
       motor(motor),
       controller(controller),
-      reference_rpm(40.0)
+      led(LED_PIN),
+      reference_rpm(DEFAULT_REFERENCE_RPM)
 {
-}
-
-
-void MotorController::set_states(
-    State* initialization,
-    State* operational
-)
-{
-    initialization_state = initialization;
-    operational_state = operational;
+    initialization_state.set_context(this);
+    operational_state.set_context(this);
 }
 
 
 void MotorController::begin()
 {
+    led.init();
+    led.set_lo();
+
     transition_to(initialization_state);
 }
 
 
-void MotorController::transition_to(State* new_state)
+void MotorController::transition_to(State& new_state)
 {
     if (current_state != nullptr)
     {
         current_state->exit();
     }
 
-    current_state = new_state;
-
-    current_state->set_context(this);
+    current_state = &new_state;
 
     current_state->enter();
 }
@@ -91,7 +87,7 @@ void MotorController::run_speed_controller()
             controller.update(reference_rpm, actual);
 
         double pwm =
-            pwm_percent * 2.55;
+            pwm_percent * PWM_PER_PERCENT;
 
         motor.set(pwm);
     }
@@ -107,4 +103,16 @@ void MotorController::stop_motor()
 void MotorController::reset_speed_measurement()
 {
     encoder.reset_speed_measurement();
-}
+}
+
+
+void MotorController::led_on()
+{
+    led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+    led.set_lo();
+}