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();