meira nýtt

include/motor_controller.h

@@ -0,0 +1,61 @@
+#ifndef MOTOR_CONTROLLER_H
+#define MOTOR_CONTROLLER_H
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "p_controller.h"
+
+class State;
+
+
+class MotorController
+{
+private:
+    State* current_state;
+
+    State* initialization_state;
+    State* operational_state;
+
+    RotaryEncoderDriver& encoder;
+    MotorDriver& motor;
+    P_controller& controller;
+
+    double reference_rpm;
+
+
+public:
+    MotorController(
+        RotaryEncoderDriver& encoder,
+        MotorDriver& motor,
+        P_controller& controller
+    );
+
+
+    void set_states(
+        State* initialization,
+        State* operational
+    );
+
+
+    void begin();
+
+    void update();
+
+    void command(char c);
+
+    void transition_to(State* new_state);
+
+
+    void to_initialization();
+
+    void to_operational();
+
+
+    void run_speed_controller();
+
+    void stop_motor();
+
+    void reset_speed_measurement();
+};
+
+#endif