Merge branch 'main' of ssh://gitea.cs.ru.is:2222/helgie22/ESP_Project3_H26 into Isak_part2

src/motor_controller.cpp

@@ -7,7 +7,9 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller
+    P_controller& controller,
+    State& initialization,
+    State& operational
 )
     : current_state(nullptr),
       initialization_state(nullptr),
@@ -16,7 +18,8 @@ MotorController::MotorController(
       encoder(encoder),
       motor(motor),
       controller(controller),
-      reference_rpm(30.0)
+      led(LED_PIN),
+      reference_rpm(DEFAULT_REFERENCE_RPM)
 {
 }
 
@@ -30,25 +33,28 @@ void MotorController::set_states(
     initialization_state = initialization;
     operational_state = operational;
     stopped_state = stopped;
+    //initialization_state.set_context(this);
+    //operational_state.set_context(this);
 }
 
 
 void MotorController::begin()
 {
+    led.init();
+    led.set_lo();
+
     transition_to(initialization_state);
 }
 
 
-void MotorController::transition_to(State* new_state)
+void MotorController::transition_to(State& new_state)
 {
     if (current_state != nullptr)
     {
         current_state->exit();
     }
 
-    current_state = new_state;
-
-    current_state->set_context(this);
+    current_state = &new_state;
 
     current_state->enter();
 }
@@ -94,7 +100,7 @@ void MotorController::run_speed_controller()
             controller.update(reference_rpm, actual);
 
         double pwm =
-            pwm_percent * 2.55;
+            pwm_percent * PWM_PER_PERCENT;
 
         motor.set(pwm);
     }
@@ -120,4 +126,15 @@ void MotorController::to_stopped()
 bool MotorController::fault_active()
 {
     return motor.fault_active();
-}
+}
+
+//void MotorController::led_on()
+//{
+//    led.set_hi();
+//}
+
+
+//void MotorController::led_off()
+//{
+//    led.set_lo();
+//}