Part 2 nýjir kóðar, fyrir STOP og Fault kerfi

src/operational_state.cpp

@@ -11,9 +11,26 @@ void OperationalState::enter()
     digitalWrite(LED_BUILTIN, HIGH);
 }
 
+// Part 1 
+
+//void OperationalState::update()
+//{
+//    context->run_speed_controller();
+//}
+
+// Part 2
 
 void OperationalState::update()
 {
+    if (context->fault_active())
+    {
+        Serial.println("Fault detected");
+
+        context->to_stopped();
+
+        return;
+    }
+
     context->run_speed_controller();
 }