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();