Part 2 nýjir kóðar, fyrir STOP og Fault kerfi

src/motor_driver.cpp

@@ -12,10 +12,16 @@ void MotorDriver::begin()
 {
     // Arduino D3  = PD3 = AIN1
     // Arduino D11 = PB3 = AIN2
+    // Arduino D4  = PD4 = FLT 
 
     DDRD |= (1 << DDD3);
     DDRB |= (1 << DDB3);
 
+    DDRD &= ~(1 << DDD4); 
+
+    PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
+
+
     // Timer2 Fast PWM
     TCCR2A = 0;
     TCCR2B = 0;
@@ -107,4 +113,10 @@ void MotorDriver::set(double pwm)
     {
         stop();
     }
-}
+}
+
+
+bool MotorDriver::fault_active()
+{
+    return !(PIND & (1 << PIND4));
+}