Lagað sameinaða kóða eftir merge. Muna fokkin kommur!!

docs/diagrams/src/motor_state.wsd

@@ -11,11 +11,13 @@ skinparam state {
 
 state Initialization 
     Initialization : Entry / Stop motor
-    Initialization : Entry / Initialize internal parameters
-    Initialization : Entry / Reset speed measurement
+    Initialization : Do / Initialize internal parameters
+    Initialization : Do / Reset speed measurement
     Initialization : Do / Wait 2 seconds
     Initialization : Exit / Send Boot-up message
 
+
+
 state Operational 
     Operational : Entry / LED on
     Operational : Do / Run speed controller
@@ -26,7 +28,9 @@ state Stopped
     Stopped : Do / Blink LED at 2 Hz
     Stopped : Exit / LED off
 
-Initialization --> Operational : initialization complete
+
+
+Initialization --> Operational : initialization\n complete
 Operational --> Initialization : reset
 Operational --> Stopped : fault detected
 

include/motor_controller.h

@@ -18,9 +18,9 @@ private:
 
     State* current_state;
 
-    State* initialization_state;
-    State* operational_state;
-    State* stopped_state;
+    State& initialization_state;
+    State& operational_state;
+    State& stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
@@ -38,10 +38,17 @@ public:
         P_controller& controller,
         State& initialization,
         State& operational,
-        state& stopped
+        State& stopped
     );
 
 
+    // void set_states(
+    //     State* initialization,
+    //     State* operational,
+    //     State* stopped
+    // );
+
+
     void begin();
 
     void update();

src/main.cpp

@@ -33,7 +33,8 @@ MotorController motor_controller(
     motor,
     controller,
     initialization_state,
-    operational_state
+    operational_state,
+    stopped_state
 );
 
 
@@ -53,11 +54,11 @@ int main()
     sei();
 
 
-    motor_controller.set_states(
-        &initialization_state,
-        &operational_state,
-        &stopped_state
-    );
+    // motor_controller.set_states(
+    //     &initialization_state,
+    //     &operational_state,
+    //     &stopped_state
+    // );
 
 
     motor_controller.begin();

src/motor_controller.cpp

@@ -9,7 +9,8 @@ MotorController::MotorController(
     MotorDriver& motor,
     P_controller& controller,
     State& initialization,
-    State& operational
+    State& operational,
+    State& stopped
 )
     : current_state(nullptr),
       initialization_state(initialization),
@@ -23,9 +24,22 @@ MotorController::MotorController(
 {
     initialization_state.set_context(this);
     operational_state.set_context(this);
+    stopped_state.set_context(this);
 }
 
 
+// void MotorController::set_states(
+//     State* initialization,
+//     State* operational,
+//     State* stopped
+// )
+
+    // initialization_state = initialization;
+    // operational_state = operational;
+    // stopped_state = stopped;
+
+
+
 void MotorController::begin()
 {
     led.init();
@@ -106,17 +120,6 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
-
-void MotorController::led_on()
-{
-    led.set_hi();
-}
-
-
-void MotorController::led_off()
-{
-    led.set_lo();
-}
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);
@@ -126,3 +129,14 @@ bool MotorController::fault_active()
 {
     return motor.fault_active();
 }
+
+void MotorController::led_on()
+{
+   led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+   led.set_lo();
+}