Uppfærður kóði sem tekur á móti input fyrir Kp og Ti, ásamt því að uppfæra UML diagram

docs/diagrams/src/motor_state.wsd

@@ -16,6 +16,12 @@ state Initialization
     Initialization : Do / Wait 2 seconds
     Initialization : Exit / Send Boot-up message
 
+state PreOperational
+    PreOperational : Entry / Stop motor
+    PreOperational : Do / Blink LED at 1 Hz
+    PreOperational : Do / Accept Kp and Ti configuration
+    PreOperational : Exit / LED off
+
 state Operational 
     Operational : Entry / LED on
     Operational : Do / Run speed controller
@@ -27,10 +33,15 @@ state Stopped
     Stopped : Exit / LED off
 
 Initialization --> Operational : initialization complete
-Operational --> Initialization : reset
+
+PreOperational --> Operational : set operational [o]
+PreOperational --> Initialization : reset [r]
+
+Operational --> PreOperational : set pre-operational [p]
+Operational --> Initialization : reset [r]
 Operational --> Stopped : fault detected
 
-Stopped --> Initialization : reset
+Stopped --> Initialization : reset [r]
-Stopped --> Operational : set operational
+Stopped --> Operational : set operational [o]
 
 @enduml

include/pre_operational_state.h

@@ -2,6 +2,7 @@
 #define PRE_OPERATIONAL_STATE_H
 
 #include "state.h"
+#include "stdint.h"
 
 class PreOperationalState : public State
 {
@@ -9,6 +10,21 @@ private:
     unsigned long previous_time;
     bool led_state;
 
+    //bool waiting_for_kp;
+    //bool waiting_for_ti;
+
+    enum InputMode
+    {
+        NONE,
+        ENTER_KP,
+        ENTER_TI
+    };
+
+    InputMode input_mode;
+
+    char input_buffer[16];
+    uint8_t input_index;
+
 public:
     PreOperationalState();
 

src/main.cpp

@@ -81,10 +81,10 @@ int main()
         {
             char c = Serial.read();
 
-            if (c != '\n' && c != '\r')
+            //if (c != '\n' && c != '\r')  // Tók þetta út svo það
-            {
+            //{                            // svo það væri hægt að setja 
-                motor_controller.command(c);
+            motor_controller.command(c);   // inn gildi fyrir Kp og Ti
-            }
+            //}
         }
 
 

src/pre_operational_state.cpp

@@ -2,10 +2,15 @@
 #include "motor_controller.h"
 
 #include <Arduino.h>
+#include <stdlib.h>
 
 PreOperationalState::PreOperationalState()
     : previous_time(0),
-      led_state(false)
+      led_state(false),
+      //waiting_for_kp(false),
+      //waiting_for_ti(false),
+      input_mode(NONE),
+      input_index(0)
 {
 }
 
@@ -45,6 +50,60 @@ void PreOperationalState::update()
 
 void PreOperationalState::command(char c)
 {
+    // We are currently entering a Kp or Ti value
+    if (input_mode != NONE)
+    {
+        // Enter pressed
+        if (c == '\n' || c == '\r')
+        {
+            if (input_index > 0)
+            {
+                // End the string
+                input_buffer[input_index] = '\0';
+
+                // Convert text to a number
+                double value = atof(input_buffer);
+
+                if (input_mode == ENTER_KP)
+                {
+                    context->set_Kp(value);
+
+                    Serial.print("Kp set to: ");
+                    Serial.println(value);
+                }
+                else if (input_mode == ENTER_TI)
+                {
+                    context->set_Ti(value);
+
+                    Serial.print("Ti set to: ");
+                    Serial.println(value);
+                }
+            }
+
+            // Finished entering a value
+            input_index = 0;
+            input_mode = NONE;
+
+            return;
+        }
+
+        // Store number characters
+        if ((c >= '0' && c <= '9') ||
+            c == '.' ||
+            c == '-')
+        {
+            if (input_index < sizeof(input_buffer) - 1)
+            {
+                input_buffer[input_index] = c;
+                input_index++;
+            }
+        }
+
+        return;
+    }
+
+
+    // Normal state commands
     if (c == 'o' || c == 'O')
     {
         Serial.println("Command: set operational");
@@ -58,6 +117,22 @@ void PreOperationalState::command(char c)
 
         context->to_initialization();
     }
+
+    else if (c == 'k' || c == 'K')
+    {
+        input_mode = ENTER_KP;
+        input_index = 0;
+
+        Serial.println("Enter Kp and press Enter:");
+    }
+
+    else if (c == 't' || c == 'T')
+    {
+        input_mode = ENTER_TI;
+        input_index = 0;
+
+        Serial.println("Enter Ti and press Enter:");
+    }
 }
 
 void PreOperationalState::exit()