Notaði fyrrum p_controller og bætti við virtual pi_controller

src/motor_controller.cpp

@@ -8,7 +8,8 @@ MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
     //P_controller& controller,
-    PI_controller& controller;
+    //PI_controller& controller;
+    Controller& controller,
     State& initialization,
     State& operational,
     State& stopped
@@ -59,6 +60,8 @@ void MotorController::transition_to(State& new_state)
 
     current_state = &new_state;
 
+    current_state->set_context(this);
+
     current_state->enter();
 }
 
@@ -131,6 +134,11 @@ bool MotorController::fault_active()
     return motor.fault_active();
 }
 
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
+
 void MotorController::led_on()
 {
    led.set_hi();
@@ -142,7 +150,3 @@ void MotorController::led_off()
    led.set_lo();
 }
 
-void MotorController::reset_controller()
-{
-    controller.reset();
-}