Leggja lokahönd á verkefnið og plot-a fleiri myndir

include/motor_controller.h

@@ -25,12 +25,16 @@ private:
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    P_controller& controller;
+    P_controller* controller;
 
     Digital_out led;
 
     double reference_rpm;
 
+    // Síðasta sýni, notað fyrir CSV-útprentun
+    double last_actual_rpm;
+    double last_pwm;
+
 
 public:
     MotorController(
@@ -64,7 +68,12 @@ public:
     bool fault_active();
 
 
-    void run_speed_controller();
+    // Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
+    bool run_speed_controller();
+
+    double get_reference_rpm() const { return reference_rpm; }
+    double get_actual_rpm() const { return last_actual_rpm; }
+    double get_pwm() const { return last_pwm; }
 
     void stop_motor();
 
@@ -76,6 +85,8 @@ public:
 
     void set_Ti(double value);
 
+    void set_controller(P_controller& new_controller);
+
     void led_on();
 
     void led_off();

include/operational_state.h

@@ -2,10 +2,20 @@
 #define OPERATIONAL_STATE_H
 
 #include "state.h"
+#include <stdint.h>
+
+// Sett á 1 til að prenta CSV (time_ms,ref_rpm,actual_rpm,pwm) í Operational,
+// t.d. fyrir step og load response. Einnig hægt með build_flags = -D LOG_CSV=1
+#ifndef LOG_CSV
+#define LOG_CSV 0
+#endif
 
 
 class OperationalState : public State
 {
+private:
+    uint32_t sample_count = 0;
+
 public:
     void enter() override;
 

include/pre_operational_state.h

@@ -4,9 +4,15 @@
 #include "state.h"
 #include "stdint.h"
 
+class P_controller;
+
 class PreOperationalState : public State
 {
 private:
+    P_controller& p_controller;
+    P_controller& pi_controller;
+    bool pi_selected;
+
     unsigned long previous_time;
     bool led_state;
 
@@ -26,7 +32,7 @@ private:
     uint8_t input_index;
 
 public:
-    PreOperationalState();
+    PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
 
     void enter() override;
     void update() override;