Nýtt branch og kóðar plús breytingar á fyrri kóðum fyrir part 4

include/motor_controller.h

@@ -19,6 +19,7 @@ private:
     State* current_state;
 
     State& initialization_state;
+    State& pre_operational_state;
     State& operational_state;
     State& stopped_state;
 
@@ -37,6 +38,7 @@ public:
         MotorDriver& motor,
         P_controller& controller,
         State& initialization,
+        State& pre_operational,
         State& operational,
         State& stopped
     );
@@ -53,6 +55,8 @@ public:
 
     void to_initialization();
 
+    void to_pre_operational();
+
     void to_operational();
 
     void to_stopped();
@@ -68,6 +72,10 @@ public:
 
     void reset_controller();
 
+    void set_Kp(double value);
+
+    void set_Ti(double value);
+
     void led_on();
 
     void led_off();

include/p_controller.h

@@ -11,6 +11,16 @@ public:
     virtual ~P_controller() {}
     virtual double update(double ref, double actual);
     virtual void reset() {}
+
+    virtual void set_Kp(double value)
+    {
+        Kp = value;
+    }
+
+    virtual void set_Ti(double value)
+    {
+        // P controller does not use Ti
+    }
 };
 
 #endif

include/pi_controller.h

@@ -16,6 +16,8 @@ class PI_controller : public P_controller
         PI_controller(double Kp, double Ti, double T);
         double update(double ref, double actual) override;
         void reset() override;
+
+        void set_Ti(double value) override;
 };
 
 #endif

include/pre_operational_state.h

@@ -0,0 +1,21 @@
+#ifndef PRE_OPERATIONAL_STATE_H
+#define PRE_OPERATIONAL_STATE_H
+
+#include "state.h"
+
+class PreOperationalState : public State
+{
+private:
+    unsigned long previous_time;
+    bool led_state;
+
+public:
+    PreOperationalState();
+
+    void enter() override;
+    void update() override;
+    void command(char c) override;
+    void exit() override;
+};
+
+#endif