Part 2 nýjir kóðar, fyrir STOP og Fault kerfi

src/motor_controller.cpp

@@ -12,6 +12,7 @@ MotorController::MotorController(
     : current_state(nullptr),
       initialization_state(nullptr),
       operational_state(nullptr),
+      stopped_state(nullptr),
       encoder(encoder),
       motor(motor),
       controller(controller),
@@ -22,11 +23,13 @@ MotorController::MotorController(
 
 void MotorController::set_states(
     State* initialization,
-    State* operational
+    State* operational,
+    State* stopped
 )
 {
     initialization_state = initialization;
     operational_state = operational;
+    stopped_state = stopped;
 }
 
 
@@ -107,4 +110,14 @@ void MotorController::stop_motor()
 void MotorController::reset_speed_measurement()
 {
     encoder.reset_speed_measurement();
+}
+
+void MotorController::to_stopped()
+{
+    transition_to(stopped_state);
+}
+
+bool MotorController::fault_active()
+{
+    return motor.fault_active();
 }