Framkvæmdi test á hegðun PI_controller

- InitializationState: 2 s bið með millis() án þess að blokka, Boot-up sent í exit()
- MotorDriver: PWM-pinnar aftengdir frá Timer2 þegar þeir eiga að vera LOW
  (OCR=0 í Fast PWM gaf samt stuttan púls)
- Eytt útkommentuðum skrám: main_P2, temporary_main, rotary_encoder_driver_unused
- .gitignore: plot-skriftan fer í git, vélarsértækar PlatformIO-skrár út

.gitignore

@@ -1,6 +1,11 @@
 .pio
 venv
-*.py
+__pycache__
 *.csv
-scripts
 *.typ
+*.pdf
+
+# Vélarsértækar skrár sem PlatformIO býr til sjálft
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+compile_commands.json

.vscode/c_cpp_properties.json

@@ -1,56 +0,0 @@
-//
-// !!! WARNING !!! AUTO-GENERATED FILE!
-// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
-// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
-//
-{
-    "configurations": [
-        {
-            "name": "PlatformIO",
-            "includePath": [
-                "C:/Users/isakt/Embedded/ESP_Project3_H26/include",
-                "C:/Users/isakt/Embedded/ESP_Project3_H26/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
-                ""
-            ],
-            "browse": {
-                "limitSymbolsToIncludedHeaders": true,
-                "path": [
-                    "C:/Users/isakt/Embedded/ESP_Project3_H26/include",
-                    "C:/Users/isakt/Embedded/ESP_Project3_H26/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/cores/arduino",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/HID/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
-                    "C:/Users/isakt/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
-                    ""
-                ]
-            },
-            "defines": [
-                "PLATFORMIO=60200",
-                "ARDUINO_AVR_NANO",
-                "F_CPU=16000000L",
-                "ARDUINO_ARCH_AVR",
-                "ARDUINO=10808",
-                "__AVR_ATmega328P__",
-                ""
-            ],
-            "cStandard": "gnu11",
-            "cppStandard": "gnu++11",
-            "compilerPath": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
-            "compilerArgs": [
-                "-mmcu=atmega328p",
-                ""
-            ]
-        }
-    ],
-    "version": 4
-}

.vscode/launch.json

@@ -1,44 +0,0 @@
-// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
-//
-// PlatformIO Debugging Solution
-//
-// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
-// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
-
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "type": "platformio-debug",
-            "request": "launch",
-            "name": "PIO Debug",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
-            "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
-            "internalConsoleOptions": "openOnSessionStart",
-            "preLaunchTask": {
-                "type": "PlatformIO",
-                "task": "Pre-Debug"
-            }
-        },
-        {
-            "type": "platformio-debug",
-            "request": "launch",
-            "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
-            "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
-            "internalConsoleOptions": "openOnSessionStart"
-        },
-        {
-            "type": "platformio-debug",
-            "request": "launch",
-            "name": "PIO Debug (without uploading)",
-            "executable": "C:/Users/isakt/Embedded/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
-            "projectEnvName": "nanoatmega328new",
-            "toolchainBinDir": "C:/Users/isakt/.platformio/packages/toolchain-atmelavr/bin",
-            "internalConsoleOptions": "openOnSessionStart",
-            "loadMode": "manual"
-        }
-    ]
-}

compile_commands.json

@@ -1,200 +0,0 @@
-[
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/CDC.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/CDC.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/CDC.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/CDC.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial0.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial0.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial0.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial0.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial1.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial1.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial1.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial1.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial2.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial2.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial2.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial2.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial3.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial3.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/HardwareSerial3.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/HardwareSerial3.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/IPAddress.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/IPAddress.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/IPAddress.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/IPAddress.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/PluggableUSB.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/PluggableUSB.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/PluggableUSB.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/PluggableUSB.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Print.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Print.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Print.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Print.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Stream.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Stream.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Stream.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Stream.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/Tone.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Tone.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/Tone.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/Tone.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/USBCore.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/USBCore.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/USBCore.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/USBCore.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/WInterrupts.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WInterrupts.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WInterrupts.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WInterrupts.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/WMath.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WMath.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WMath.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WMath.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/WString.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WString.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/WString.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/WString.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/abi.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/abi.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/abi.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/abi.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/hooks.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/hooks.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/hooks.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/hooks.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/main.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/main.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/main.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/FrameworkArduino/new.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/new.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/new.cpp",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/new.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_analog.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_analog.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_analog.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_digital.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_digital.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -mmcu=atmega328p -x assembler-with-cpp -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs -c -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.S",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.S.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_pulse.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_pulse.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc -o .pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o -c -std=gnu11 -fno-fat-lto-objects -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs /Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino/wiring_shift.c",
-        "output": ".pio/build/nanoatmega328new/FrameworkArduino/wiring_shift.c.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_in.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_in.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/digital_in.cpp",
-        "output": ".pio/build/nanoatmega328new/src/digital_in.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/digital_out.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/digital_out.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/digital_out.cpp",
-        "output": ".pio/build/nanoatmega328new/src/digital_out.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/main.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/main.cpp",
-        "output": ".pio/build/nanoatmega328new/src/main.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1_first_working_main.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/part1_first_working_main.cpp",
-        "output": ".pio/build/nanoatmega328new/src/part1_first_working_main.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part1part2.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part1part2.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/part1part2.cpp",
-        "output": ".pio/build/nanoatmega328new/src/part1part2.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/part3part1.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/part3part1.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/part3part1.cpp",
-        "output": ".pio/build/nanoatmega328new/src/part3part1.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/rotary_encoder_driver.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/rotary_encoder_driver.cpp",
-        "output": ".pio/build/nanoatmega328new/src/rotary_encoder_driver.cpp.o"
-    },
-    {
-        "command": "/Users/dadi/.platformio/packages/toolchain-atmelavr/bin/avr-g++ -o .pio/build/nanoatmega328new/src/timer_usec.cpp.o -c -fno-exceptions -fno-threadsafe-statics -fpermissive -std=gnu++11 -mmcu=atmega328p -Os -Wall -ffunction-sections -fdata-sections -flto -DPLATFORMIO=60119 -DARDUINO_AVR_NANO -DF_CPU=16000000L -DARDUINO_ARCH_AVR -DARDUINO=10808 -Iinclude -Isrc -I/Users/dadi/.platformio/packages/framework-arduino-avr/cores/arduino -I/Users/dadi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs src/timer_usec.cpp",
-        "directory": "/Users/dadi/embedded/proj1",
-        "file": "src/timer_usec.cpp",
-        "output": ".pio/build/nanoatmega328new/src/timer_usec.cpp.o"
-    }
-]

docs/diagrams/src/motor_state.wsd

@@ -1,5 +1,7 @@
 @startuml
-
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80
 
 skinparam state {
     BackgroundColor LightBlue
@@ -9,25 +11,21 @@ skinparam state {
 
 state Initialization 
     Initialization : Entry / Stop motor 
-    Initialization : Do / Initialize internal parameters
+    Initialization : Entry / Initialize internal parameters
-    Initialization : Do / Reset speed measurement
+    Initialization : Entry / 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
-    Operational : Exit / Stop motor
+    Operational : Exit / Stop motor and LED off
-    Operational : Exit / LED off
 
 state Stopped
     Stopped : Entry / Stop motor
     Stopped : Do / Blink LED at 2 Hz
     Stopped : Exit / LED off
 
-
-
 Initialization --> Operational : initialization complete
 Operational --> Initialization : reset
 Operational --> Stopped : fault detected

include/initialization_state.h

@@ -6,6 +6,11 @@
 
 class InitializationState : public State
 {
+private:
+    static const unsigned long WAIT_MS = 2000;
+
+    unsigned long enter_time_ms = 0;
+
 public:
     void enter() override;
 

include/motor_controller.h

@@ -4,6 +4,7 @@
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
+#include "digital_out.h"
 
 class State;
 
@@ -11,16 +12,22 @@ class State;
 class MotorController
 {
 private:
+    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
+    static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+
     State* current_state;
 
-    State* initialization_state;
+    State& initialization_state;
-    State* operational_state;
+    State& operational_state;
-    State* stopped_state;
+    State& stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
     P_controller& controller;
 
+    Digital_out led;
+
     double reference_rpm;
 
 
@@ -28,14 +35,10 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        P_controller& controller
+        P_controller& controller,
-    );
+        State& initialization,
-
+        State& operational,
-
+        State& stopped
-    void set_states(
-        State* initialization,
-        State* operational,
-        State* stopped
     );
 
 
@@ -45,7 +48,7 @@ public:
 
     void command(char c);
 
-    void transition_to(State* new_state);
+    void transition_to(State& new_state);
 
 
     void to_initialization();
@@ -62,6 +65,12 @@ public:
     void stop_motor();
 
     void reset_speed_measurement();
+
+    void reset_controller();
+
+    void led_on();
+
+    void led_off();
 };
 
 #endif

include/p_controller.h

@@ -3,13 +3,14 @@
 
 class P_controller
 {
-private:
+protected:
     double Kp;
 
 public:
     P_controller(double Kp);
-
+    virtual ~P_controller() {}
-    double update(double ref, double actual);
+    virtual double update(double ref, double actual);
+    virtual void reset() {}
 };
 
 #endif

include/pi_controller.h

@@ -0,0 +1,21 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+#include "p_controller.h"
+
+class PI_controller : public P_controller
+{
+    private:
+        static constexpr double U_MAX = 100.0;  // %
+        static constexpr double U_MIN = -100.0; // %
+
+        double Ti;
+        double T;
+        double integral;
+    public:
+        PI_controller(double Kp, double Ti, double T);
+        double update(double ref, double actual) override;
+        void reset() override;
+};
+
+#endif

include/rotary_encoder_driver.h

@@ -4,37 +4,36 @@
 #include <stdint.h>
 
 #include "digital_in.h"
-//#include "digital_out.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
-    static const uint8_t HIST_LEN = 4;   // 4 x 4 ms = 16 ms gluggi fyrir rpm-utreikning
+public:
+    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
+    static constexpr float COUNTS_PER_REV = 1050.0f;
 
-    volatile uint8_t cycle;
+private:
-    volatile int16_t count;
+    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
-    volatile int16_t prev_count;
+
+    volatile int32_t count;
+    volatile int16_t delta;
     volatile bool speed_ready;
 
-    volatile int16_t history[HIST_LEN];
+    volatile int32_t history[HIST_LEN];
     volatile uint8_t hist_idx;
 
-    //Digital_out led;
-
     Digital_in eA;
     Digital_in eB;
 
     Timer_usec timer;
 
 public:
-    volatile int16_t delta;
-
     RotaryEncoderDriver();
 
     void begin();
 
     void update();
 
-    int position(); 
+    int32_t position();
 
     void update_delta();
 

include/state.h

@@ -6,7 +6,7 @@ class MotorController;
 class State
 {
 protected:
-    MotorController* context;
+    MotorController* context = nullptr;
 
 public:
     virtual ~State()

platformio.ini

@@ -14,4 +14,12 @@ board = nanoatmega328new
 framework = arduino
 
 monitor_speed = 115200
+test_framework = unity
+test_build_src = yes
 
+
+; [env:native]
+; platform = native
+; test_framework = unity
+; test_build_src = yes
+; build_src_filter = -<*> +<p_controller.cpp> +<pi_controller.cpp>

scripts/plot_step_response.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+"""
+Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
+(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
+
+pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
+pwm_actual    = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
+                var sent a motor.set() / vélbúnaðinn
+
+Notkun:
+    python plot_step_response.py [inntak.csv] [uttak.png] [titill]
+
+Sjalfgefid: data/step_response.csv -> data/step_response.png
+"""
+import sys
+import csv
+import matplotlib.pyplot as plt
+
+
+def load_csv(path):
+    cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
+            "pwm_requested": [], "pwm_actual": []}
+    with open(path, newline="") as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            try:
+                for key in cols:
+                    cols[key].append(float(row[key]))
+            except (ValueError, KeyError):
+                # sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
+                for key in cols:
+                    if len(cols[key]) > len(cols["time_ms"]):
+                        cols[key].pop()
+                continue
+    return cols
+
+
+def plot(cols, out_path, title_suffix=""):
+    time_s = [t / 1000.0 for t in cols["time_ms"]]
+    ref_rpm = cols["ref_rpm"]
+    actual_rpm = cols["actual_rpm"]
+    pwm_requested = cols["pwm_requested"]
+    pwm_actual = cols["pwm_actual"]
+
+    fig, ax1 = plt.subplots(figsize=(10, 5))
+
+    ax1.plot(time_s, ref_rpm, label="Reference (ref_rpm)", color="#666666",
+              linestyle="--", linewidth=1.5)
+    ax1.plot(time_s, actual_rpm, label="Measured (actual_rpm)", color="#1f77b4",
+              linewidth=1.8)
+    ax1.set_xlabel("Time [s]")
+    ax1.set_ylabel("Angular velocity [RPM]")
+    ax1.grid(True, alpha=0.3)
+
+    ax2 = ax1.twinx()
+    ax2.plot(time_s, pwm_requested, label="PWM requested (unclamped)",
+              color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
+    ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
+              color="#d62728", linewidth=1.4)
+    ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
+    ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
+    ax2.set_ylabel("PWM [-255, 255]")
+
+    # Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
+    step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
+    if step_idx is not None:
+        ax1.axvline(time_s[step_idx], color="black", linewidth=0.8,
+                     linestyle=":")
+        ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
+                  fontsize=9, va="bottom")
+
+    lines1, labels1 = ax1.get_legend_handles_labels()
+    lines2, labels2 = ax2.get_legend_handles_labels()
+    ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
+               fontsize=8)
+
+    title = "Double step response: RPM and PWM over time"
+    if title_suffix:
+        title += f" ({title_suffix})"
+    fig.suptitle(title)
+    fig.tight_layout()
+    fig.savefig(out_path, dpi=150)
+    print(f"Vistad: {out_path}")
+
+
+if __name__ == "__main__":
+    in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
+    out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.png"
+    title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
+    data = load_csv(in_path)
+    plot(data, out_path, title_suffix)

src/initialization_state.cpp

@@ -9,19 +9,23 @@ void InitializationState::enter()
     Serial.println();
     Serial.println("State: Initialization");
 
-    digitalWrite(LED_BUILTIN, LOW);
+    context->led_off();
 
     context->stop_motor();
 
     context->reset_speed_measurement();
 
-    Serial.println("Boot-up");
+    enter_time_ms = millis();
 }
 
 
 void InitializationState::update()
 {
-    context->to_operational();
+    // Non-blocking bið svo aðallykkjan haldi áfram að keyra
+    if (millis() - enter_time_ms >= WAIT_MS)
+    {
+        context->to_operational();
+    }
 }
 
 
@@ -32,4 +36,5 @@ void InitializationState::command(char c)
 
 void InitializationState::exit()
 {
+    Serial.println("Boot-up");
 }

src/main.cpp

@@ -1,9 +1,12 @@
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+#ifndef PIO_UNIT_TESTING
+
 #include <Arduino.h>
 #include <avr/interrupt.h>
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+#include "pi_controller.h"
 
 #include "motor_controller.h"
 
@@ -16,14 +19,12 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-P_controller controller(12.5);
+const double Kp = 12.5;
+const double Ti = 1.0;
+const double T = 0.004;
 
-
+// P_controller controller(Kp);
-MotorController motor_controller(
+PI_controller controller(Kp, Ti, T);
-    encoder,
-    motor,
-    controller
-);
 
 
 InitializationState initialization_state;
@@ -32,6 +33,17 @@ OperationalState operational_state;
 
 StoppedState stopped_state;
 
+// Stöðurnar verða að vera skilgreindar á undan motor_controller
+MotorController motor_controller(
+    encoder,
+    motor,
+    controller,
+    initialization_state,
+    operational_state,
+    stopped_state
+);
+
+
 int main()
 {
     init();
@@ -39,11 +51,6 @@ int main()
     Serial.begin(115200);
 
 
-    pinMode(LED_BUILTIN, OUTPUT);
-
-    digitalWrite(LED_BUILTIN, LOW);
-
-
     cli();
 
     encoder.begin();
@@ -52,12 +59,11 @@ int main()
 
     sei();
     
-
+    // motor_controller.set_states(
-    motor_controller.set_states(
+    //     &initialization_state,
-        &initialization_state,
+    //     &operational_state,
-        &operational_state,
+    //     &stopped_state
-        &stopped_state
+    // );
-    );
 
 
     motor_controller.begin();
@@ -82,3 +88,8 @@ int main()
 
     return 0;
 }
+
+// int main(){
+//     return 0;
+// }
+#endif // PIO_UNIT_TESTING

src/main_P2.cpp

@@ -1,88 +0,0 @@
-/* #include <avr/io.h>
-#include <util/delay.h>
-#include <Arduino.h>
-
-#include "rotary_encoder_driver.h"
-#include "motor_driver.h"
-#include "p_controller.h"
-
-RotaryEncoderDriver encoder;
-MotorDriver motor;
-
-P_controller controller(12.5);
-
-const double REF_RPM1 = 30.0;
-const double REF_RPM2 = 50.0;
-
-const uint16_t STEP1_AT_SAMPLE = 50; 
-const uint16_t STEP2_AT_SAMPLE = 500;
-
-const uint16_t STOP_AT_SAMPLE = 1000;  
-
-int main() {
-    init();
-    Serial.begin(115200);
-
-    cli();
-    encoder.begin();
-    motor.begin();
-    sei();
-
-    // Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
-    motor.stop();
-    _delay_ms(2000);
-
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
-    Serial.println("0.0,0.0,0.0,0.0,0.0");
-
-    encoder.reset_speed_measurement();
-
-    uint16_t sample = 0;
-    double ref = 0.0;
-
-    while (true) {
-        if (encoder.new_speed_available()) {
-            sample++;
-
-            float time_ms = sample * 4.0f;
-
-            // Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
-            if (sample == STEP1_AT_SAMPLE) {
-                ref = REF_RPM1;
-            }
-
-            if (sample == STEP2_AT_SAMPLE) {
-                ref = REF_RPM2;
-            }
-
-            double actual = encoder.rpm();
-
-            double pwm_percent   = controller.update(ref, actual);  
-            double pwm_requested = pwm_percent * 2.55;               
-
-            double pwm_actual = pwm_requested;                       
-            if (pwm_actual > 255.0)  pwm_actual = 255.0;
-            if (pwm_actual < -255.0) pwm_actual = -255.0;
-
-            motor.set(pwm_actual);
-
-            Serial.print(time_ms, 1);
-            Serial.print(",");
-            Serial.print(ref, 1);
-            Serial.print(",");
-            Serial.print(actual, 2);
-            Serial.print(",");
-            Serial.print(pwm_requested, 1);
-            Serial.print(",");
-            Serial.println(pwm_actual, 1);
-
-            if (sample >= STOP_AT_SAMPLE) {
-                motor.stop();
-                while (true) {
-                }
-            }
-        }
-    }
-    return 0;
-}
- */

src/motor_controller.cpp

@@ -7,48 +7,56 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller
+    P_controller& controller,
+    State& initialization,
+    State& operational,
+    State& stopped
 )
     : current_state(nullptr),
-      initialization_state(nullptr),
+      initialization_state(initialization),
-      operational_state(nullptr),
+      operational_state(operational),
-      stopped_state(nullptr),
+      stopped_state(stopped),
       encoder(encoder),
       motor(motor),
       controller(controller),
-      reference_rpm(30.0)
+      led(LED_PIN),
+      reference_rpm(DEFAULT_REFERENCE_RPM)
 {
+    initialization_state.set_context(this);
+    operational_state.set_context(this);
+    stopped_state.set_context(this);
 }
 
 
-void MotorController::set_states(
+// void MotorController::set_states(
-    State* initialization,
+//     State* initialization,
-    State* operational,
+//     State* operational,
-    State* stopped
+//     State* stopped
-)
+// )
-{
+
-    initialization_state = initialization;
+    // initialization_state = initialization;
-    operational_state = operational;
+    // operational_state = operational;
-    stopped_state = stopped;
+    // stopped_state = stopped;
-}
+
 
 
 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 = &new_state;
-
-    current_state->set_context(this);
 
     current_state->enter();
 }
@@ -94,7 +102,7 @@ void MotorController::run_speed_controller()
             controller.update(reference_rpm, actual);
 
         double pwm =
-            pwm_percent * 2.55;
+            pwm_percent * PWM_PER_PERCENT;
 
         motor.set(pwm);
     }
@@ -112,6 +120,11 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
+
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);
@@ -121,3 +134,14 @@ bool MotorController::fault_active()
 {
     return motor.fault_active();
 }
+
+void MotorController::led_on()
+{
+   led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+   led.set_lo();
+}

src/motor_driver.cpp

@@ -3,6 +3,37 @@
 #include <avr/io.h>
 
 
+// Í Fast PWM gefur OCR = 0 samt einn stuttan púls í hverri lotu.
+// Til að pinni sé alveg LOW er hann aftengdur frá timernum (COM-bitar)
+// og keyrður LOW gegnum PORT-registerið.
+
+static void ain1_off()   // D3 = PD3 = OC2B
+{
+    TCCR2A &= ~(1 << COM2B1);
+    PORTD  &= ~(1 << PORTD3);
+    OCR2B = 0;
+}
+
+static void ain2_off()   // D11 = PB3 = OC2A
+{
+    TCCR2A &= ~(1 << COM2A1);
+    PORTB  &= ~(1 << PORTB3);
+    OCR2A = 0;
+}
+
+static void ain1_pwm(uint8_t duty)
+{
+    OCR2B = duty;
+    TCCR2A |= (1 << COM2B1);
+}
+
+static void ain2_pwm(uint8_t duty)
+{
+    OCR2A = duty;
+    TCCR2A |= (1 << COM2A1);
+}
+
+
 MotorDriver::MotorDriver()
 {
 }
@@ -30,57 +61,32 @@ void MotorDriver::begin()
     TCCR2A |= (1 << WGM20);
     TCCR2A |= (1 << WGM21);
 
-    // Non-inverting PWM on OC2A and OC2B
-    TCCR2A |= (1 << COM2A1);
-    TCCR2A |= (1 << COM2B1);
-
-
     // Timer2 prescaler = 32
     TCCR2B |= (1 << CS21);
     TCCR2B |= (1 << CS20);
 
-    OCR2A = 0;
+    // PWM-úttök eru tengd í set() eftir þörfum
-    OCR2B = 0;
+    stop();
-
-    //stop();
 }
 
 
 void MotorDriver::forward()
 {
-    // AIN1 / D3  = HIGH
+    set(255.0);
-    // AIN2 / D11 = LOW
-
-    //PORTD |= (1 << PORTD3);
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 255;
 }
 
 
 void MotorDriver::reverse()
 {
-    // AIN1 / D3  = LOW
+    set(-255.0);
-    // AIN2 / D11 = HIGH
-
-    //PORTD &= ~(1 << PORTD3);
-    //PORTB |= (1 << PORTB3);
-
-    OCR2B = 0;
-    OCR2A = 255;
 }
 
 
 void MotorDriver::stop()
 {
     // Both LOW
-
+    ain1_off();
-    //PORTD &= ~(1 << PORTD3);
+    ain2_off();
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 0;
 }
 
 void MotorDriver::set(double pwm)
@@ -97,21 +103,23 @@ void MotorDriver::set(double pwm)
     }
 
 
-    if (pwm > 0)
+    uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
+
+    if (duty == 0)
+    {
+        stop();
+    }
+    else if (pwm > 0)
     {
         // Forward
-        OCR2A = 0;
+        ain2_off();
-        OCR2B = (uint8_t)pwm;
+        ain1_pwm(duty);
-    }
-    else if (pwm < 0)
-    {
-        // Reverse
-        OCR2B = 0;
-        OCR2A = (uint8_t)(-pwm);
     }
     else
     {
-        stop();
+        // Reverse
+        ain1_off();
+        ain2_pwm(duty);
     }
 }
 

src/operational_state.cpp

@@ -8,7 +8,9 @@ void OperationalState::enter()
 {
     Serial.println("State: Operational");
 
-    digitalWrite(LED_BUILTIN, HIGH);
+    context->reset_controller();
+
+    context->led_on();
 }
 
 // Part 1 
@@ -50,5 +52,5 @@ void OperationalState::exit()
 {
     context->stop_motor();
 
-    digitalWrite(LED_BUILTIN, LOW);
+    context->led_off();
 }

src/pi_controller.cpp

@@ -0,0 +1,32 @@
+#include "pi_controller.h"
+
+PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+{
+}
+
+double PI_controller::update(double ref, double actual)
+{
+    double e = ref - actual;
+    double new_integral = integral + e * T;
+    double u = Kp * (e + new_integral / Ti);
+
+    if (u > U_MAX)
+    {
+        u = U_MAX;
+    }
+    else if (u < U_MIN)
+    {
+        u = U_MIN;
+    }
+    else
+    {
+        integral = new_integral;
+    }
+    return u;
+    // return 0.0;
+}
+
+void PI_controller::reset()
+{
+    integral = 0.0;
+}

src/rotary_encoder_driver.cpp

@@ -1,17 +1,15 @@
 #include "rotary_encoder_driver.h"
 #include <avr/interrupt.h>
 
-RotaryEncoderDriver* driver = nullptr;
+static RotaryEncoderDriver* driver = nullptr;
 
 RotaryEncoderDriver::RotaryEncoderDriver()
-    : cycle(0)
+    : count(0)
-    , count(0)
+    , delta(0)
-    , prev_count(0)
     , speed_ready(false)
     , hist_idx(0)
     , eA(2)
     , eB(5)
-    , delta(0)
 {
     for (uint8_t i = 0; i < HIST_LEN; i++)
     {
@@ -24,54 +22,46 @@ void RotaryEncoderDriver::begin()
 {
     driver = this;
 
-    //led.init();
     eA.init();
     eB.init();
 
     EICRA |= (1<<ISC01) | (1<<ISC00);
     EIMSK |= (1<<INT0);
 
-    timer.init(4000);
+    timer.init(SAMPLE_PERIOD_US);
 }
 
 void RotaryEncoderDriver::update()
 {
     count += eB.is_hi() ? 1 : -1;
-    //led.set_hi();
 }
 
-int RotaryEncoderDriver::position() 
+int32_t RotaryEncoderDriver::position()
 {
 
     uint8_t oldSREG = SREG;
 
     cli();
 
-    int16_t local_count = count;
+    int32_t local_count = count;
 
     SREG = oldSREG;
 
-    //led.set_lo();
-
     return local_count;
 }
 
 void RotaryEncoderDriver::update_delta()
 {
 
-    int16_t oldest = history[hist_idx];
+    int32_t oldest = history[hist_idx];
 
     history[hist_idx] = count;
 
     hist_idx = (hist_idx + 1) % HIST_LEN;
 
-    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (16 ms) glugga
+    delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga
-
-    prev_count = count;
 
     speed_ready = true;
-
-    //led.set_lo();
 }
 
 float RotaryEncoderDriver::count_per_sec()
@@ -85,14 +75,12 @@ float RotaryEncoderDriver::count_per_sec()
 
     SREG = oldSREG;
 
-    return local_delta / (HIST_LEN * 0.004f);
+    return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
 }
 
 
 float RotaryEncoderDriver::rpm()
 {
-    const float COUNTS_PER_REV = 1050.0f;
-
     return count_per_sec() * 60.0f / COUNTS_PER_REV;
 }
 
@@ -121,8 +109,6 @@ void RotaryEncoderDriver::reset_speed_measurement()
 
     cli();
 
-    cycle = 0;
-    prev_count = count;
     delta = 0;
     speed_ready = false;
 
@@ -144,5 +130,3 @@ ISR(TIMER1_COMPA_vect)
 {
     driver->update_delta();
 }
-
-

src/rotary_encoder_driver_unused.cpp

@@ -1,61 +0,0 @@
-/* #include "rotary_encoder_driver.h"
-#include <avr/interrupt.h>
-
-RotaryEncoderDriver* driver = nullptr;
-
-RotaryEncoderDriver::RotaryEncoderDriver()
-    : cycle(0)
-    , count(0)
-    , prev_count(0)
-    , led(5)
-    , eA(2)
-    , eB(5) {}
-
-void RotaryEncoderDriver::begin() {
-    driver = this;
-
-    led.init();
-    eA.init();
-    eB.init();
-
-    EICRA |= (1<<ISC01) | (1<<ISC00);
-    EIMSK |= (1<<INT0);
-
-    timer.init(100);
-}
-
-void RotaryEncoderDriver::update() {
-    count += eB.is_hi() ? 1 : -1;
-    led.set_hi();
-}
-
-int RotaryEncoderDriver::position() {
-    led.set_lo();
-    return count;
-} 
-
-void RotaryEncoderDriver::update_delta() {
-    if (++cycle == 0) {
-        delta = count - prev_count;
-        prev_count = count;
-    }
-    led.set_lo();
-}
-
-float RotaryEncoderDriver::count_per_sec() {
-    return delta / (256.0f * 0.0001f);
-} 
-
-float RotaryEncoderDriver::rpm() {
-    return (count_per_sec() * 60) / 1050.0;
-}
-
-
-ISR(INT0_vect) {
-    driver->update();
-}
-ISR(TIMER1_COMPA_vect) {
-    driver->update_delta();    
-}
-
- */

src/temporary_main.cpp

@@ -1,53 +0,0 @@
-/* Óvirkt núna, "alvöru" main() er í main.cpp. Þessi skrá var notuð í undirbúning/prófun
-
-#include <Arduino.h>
-
-#include "p_controller.h"
-
-P_controller controller(2.0);
-
-int main()
-{
-    init();
-
-    Serial.begin(115200);
-
-    double result = controller.update(100.0, 70.0);
-
-    Serial.print("PWM = ");
-    Serial.println(result);
-
-    while (true)
-    {
-    }
-
-    return 0;
-}
-
-
-#include <Arduino.h>
-#include <util/delay.h>
-
-#include "motor_driver.h"
-
-MotorDriver motor;
-
-int main()
-{
-    init();
-
-    motor.begin();
-
-    while (true)
-    {
-        motor.set(60);
-        _delay_ms(3000);
-
-        motor.set(120);
-        _delay_ms(3000);
-
-        motor.set(240);
-        _delay_ms(3000);
-    }
-}
-*/

test/test_pi_controller/test_main.cpp

@@ -0,0 +1,150 @@
+#include <unity.h>
+
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
+#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double TI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
+
+// void setUp(void) {}
+// void tearDown(void) {}
+
+// Normal flow: engin villa -> ekkert úttak
+void test_zero_error_gives_zero_output(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+}
+
+// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
+void test_first_step(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
+void test_integral_accumulates(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    double u = 0.0;
+    for (int n = 1; n <= 5; n++)
+    {
+        u = c.update(e, 0.0);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+    }
+}
+
+// Normal flow: þegar villan er orðin 0 heldur integralið úttakinu uppi
+void test_output_held_when_error_zero(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(e, 0.0);
+    }
+    double E = 5 * e * T;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+}
+
+// Alt flow: villa langt utan getu -> mettun í +100 %
+void test_saturates_high(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+}
+
+// Alt flow: mettun í -100 %
+void test_saturates_low(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+}
+
+// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
+// strax að gefa úttak undir mettun (integralið óx ekki)
+void test_no_integral_windup(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 1000; n++)
+    {
+        c.update(10000.0, 0.0);
+    }
+    double u = c.update(0.0, 1.0);  // e = -1
+    TEST_ASSERT_TRUE(u < 0.0);
+}
+
+// Alt flow: reset (stopped -> operational) hreinsar integralið
+void test_reset_clears_integral(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(5.0, 0.0);
+    }
+    c.reset();
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+}
+
+// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
+void test_polymorphic_update(void)
+{
+    PI_controller pi(KP, TI, T);
+    P_controller& c = pi;
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// P_controller hegðar sér óbreytt
+void test_p_controller_unchanged(void)
+{
+    P_controller c(KP);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+}
+
+void setup()
+{
+    // init();
+    delay(2000);
+    UNITY_BEGIN();
+    RUN_TEST(test_zero_error_gives_zero_output);
+    RUN_TEST(test_first_step);
+    RUN_TEST(test_integral_accumulates);
+    RUN_TEST(test_output_held_when_error_zero);
+    RUN_TEST(test_saturates_high);
+    RUN_TEST(test_saturates_low);
+    RUN_TEST(test_no_integral_windup);
+    RUN_TEST(test_reset_clears_integral);
+    RUN_TEST(test_polymorphic_update);
+    RUN_TEST(test_p_controller_unchanged);
+    // return UNITY_END();
+    UNITY_END();
+}
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif