Notaði fyrrum p_controller og bætti við virtual pi_controller

include/motor_controller.h

@@ -4,7 +4,8 @@
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 //#include "p_controller.h"
-#include "pi_controller.h"
+//#include "pi_controller.h"
+#include "controller.h"
 #include "digital_out.h"
 
 class State;
@@ -26,7 +27,8 @@ private:
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
     //P_controller& controller;
-    PI_controller& controller;
+    //PI_controller& controller;
+    Controller& controller;
 
     Digital_out led;
 
@@ -37,7 +39,8 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        P_controller& controller,
+        //P_controller& controller,
+        Controller& controller,
         State& initialization,
         State& operational,
         State& stopped
@@ -75,11 +78,15 @@ public:
 
     void reset_speed_measurement();
 
+    void reset_controller();
+
+
+
     void led_on();
 
     void led_off();
 
-    void reset_controller();
+    
 };