project 2 pasted in to repo

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

include/digital_in.h

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+#ifndef DIGITAL_IN_H
+#define DIGITAL_IN_H
+#include <stdint.h>
+
+struct Digital_in {
+    uint8_t pin_mask;
+
+    Digital_in(uint8_t pin);
+    
+    void init();
+    bool is_hi();
+    bool is_lo();
+};
+#endif

include/digital_out.h

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+#ifndef DIGITAL_OUT_H
+#define DIGITAL_OUT_H
+#include<stdint.h>
+
+struct Digital_out {
+    uint8_t pin_mask;
+
+    Digital_out(uint8_t pin);
+
+    void init();
+    void toggle();
+    void set_hi();
+    void set_lo();
+};
+#endif

include/motor_driver.h

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+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+class MotorDriver
+{
+public:
+    MotorDriver();
+
+    void begin();
+
+    void forward();
+    void reverse();
+    void stop();
+
+    void set(double pwm);
+};
+
+#endif

include/p_controller.h

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+#ifndef P_CONTROLLER_H
+#define P_CONTROLLER_H
+
+class P_controller
+{
+private:
+    double Kp;
+
+public:
+    P_controller(double Kp);
+
+    double update(double ref, double actual);
+};
+
+#endif

include/rotary_encoder_driver.h

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+#ifndef ROTARY_ENCODER_DRIVER_H
+#define ROTARY_ENCODER_DRIVER_H
+
+#include <stdint.h>
+
+#include "digital_in.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
+
+    volatile uint8_t cycle;
+    volatile int16_t count;
+    volatile int16_t prev_count;
+    volatile bool speed_ready;
+
+    volatile int16_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(); 
+    void update_delta();
+    float count_per_sec();
+    float rpm();
+
+    bool new_speed_available();
+    void reset_speed_measurement();
+
+};
+#endif

include/timer_usec.h

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+#ifndef TIMER_USEC_H
+#define TIMER_USEC_H
+#include <avr/io.h>
+
+struct Timer_usec {
+    Timer_usec();
+    void init(uint16_t period_us);
+};
+#endif