Part 2 nýjir kóðar, fyrir STOP og Fault kerfi

include/motor_controller.h

@@ -15,6 +15,7 @@ private:
 
     State* initialization_state;
     State* operational_state;
+    State* stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
@@ -33,7 +34,8 @@ public:
 
     void set_states(
         State* initialization,
-        State* operational
+        State* operational,
+        State* stopped
     );
 
 
@@ -50,6 +52,10 @@ public:
 
     void to_operational();
 
+    void to_stopped();
+
+    bool fault_active();
+
 
     void run_speed_controller();