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

Encoder fyrir position í int32, stöðuvél án null-pointera, nefndir fastar, LED gegnum context
Initialization bíður 2 s, mótor stöðvast alveg, hreinsun
2026-09-30 12:21:01 +00:00 · 2026-09-30 11:55:41 +00:00 · 2026-09-30 11:49:51 +00:00
19 changed files with 256 additions and 627 deletions
@@ -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
@@ -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
-}
@@ -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"
-        }
-    ]
-}
@@ -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"
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-    {
-        "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"
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-    {
-        "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",
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-        "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"
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-        "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"
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-    {
-        "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"
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-    {
-        "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"
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-        "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",
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-        "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",
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-    },
-    {
-        "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"
-    }
-]
@@ -1,5 +1,7 @@
@startuml
-
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80

 skinparam state {
    BackgroundColor LightBlue
@@ -11,6 +13,7 @@ state Initialization
    Initialization : Entry / Stop motor
    Initialization : Do / Initialize internal parameters
    Initialization : Do / Reset speed measurement
+    Initialization : Do / Wait 2 seconds
    Initialization : Exit / Send Boot-up message


@@ -18,8 +21,7 @@ state Initialization
 state Operational 
    Operational : Entry / LED on
    Operational : Do / Run speed controller
-    Operational : Exit / Stop motor
-    Operational : Exit / LED off
+    Operational : Exit / Stop motor and LED off

 state Stopped
    Stopped : Entry / Stop motor
@@ -28,7 +30,7 @@ state Stopped



-Initialization --> Operational : initialization complete
+Initialization --> Operational : initialization\n complete
 Operational --> Initialization : reset
 Operational --> Stopped : fault detected

@@ -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;

@@ -4,6 +4,7 @@
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
+#include "digital_out.h"

 class State;

@@ -11,6 +12,10 @@ 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;
@@ -21,6 +26,8 @@ private:
    MotorDriver& motor;
    P_controller& controller;

+    Digital_out led;
+
    double reference_rpm;


@@ -45,7 +52,7 @@ public:

    void command(char c);

-    void transition_to(State* new_state);
+    void transition_to(State& new_state);


    void to_initialization();
@@ -62,6 +69,10 @@ public:
    void stop_motor();

    void reset_speed_measurement();
+
+    void led_on();
+
+    void led_off();
 };

 #endif
@@ -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;
-    volatile int16_t count;
-    volatile int16_t prev_count;
+private:
+    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
+
+    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();

@@ -6,7 +6,7 @@ class MotorController;
 class State
 {
 protected:
-    MotorController* context;
+    MotorController* context = nullptr;

 public:
    virtual ~State()
@@ -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)
@@ -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()
 {
+    // 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");
 }
@@ -16,14 +16,9 @@ RotaryEncoderDriver encoder;

 MotorDriver motor;

-P_controller controller(12.5);
+const double KP = 12.5;

-
-MotorController motor_controller(
-    encoder,
-    motor,
-    controller
-);
+P_controller controller(KP);


 InitializationState initialization_state;
@@ -32,6 +27,16 @@ 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
+);
+
+
 int main()
 {
    init();
@@ -39,11 +44,6 @@ int main()
    Serial.begin(115200);


-    pinMode(LED_BUILTIN, OUTPUT);
-
-    digitalWrite(LED_BUILTIN, LOW);
-
-
    cli();

    encoder.begin();
@@ -82,3 +82,7 @@ int main()

    return 0;
 }
+
+// int main(){
+//     return 0;
+// }
@@ -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;
-}
- */
@@ -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);
    }
@@ -121,3 +127,14 @@ bool MotorController::fault_active()
 {
    return motor.fault_active();
 }
+
+//void MotorController::led_on()
+//{
+//    led.set_hi();
+//}
+
+
+//void MotorController::led_off()
+//{
+//    led.set_lo();
+//}
@@ -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;
-    OCR2B = 0;
-
-    //stop();
+    // PWM-úttök eru tengd í set() eftir þörfum
+    stop();
 }


 void MotorDriver::forward()
 {
-    // AIN1 / D3  = HIGH
-    // AIN2 / D11 = LOW
-
-    //PORTD |= (1 << PORTD3);
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 255;
+    set(255.0);
 }


 void MotorDriver::reverse()
 {
-    // AIN1 / D3  = LOW
-    // AIN2 / D11 = HIGH
-
-    //PORTD &= ~(1 << PORTD3);
-    //PORTB |= (1 << PORTB3);
-
-    OCR2B = 0;
-    OCR2A = 255;
+    set(-255.0);
 }


 void MotorDriver::stop()
 {
    // Both LOW
-
-    //PORTD &= ~(1 << PORTD3);
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 0;
+    ain1_off();
+    ain2_off();
 }

 void MotorDriver::set(double pwm)
@@ -97,26 +103,28 @@ 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;
-        OCR2B = (uint8_t)pwm;
-    }
-    else if (pwm < 0)
-    {
-        // Reverse
-        OCR2B = 0;
-        OCR2A = (uint8_t)(-pwm);
+        ain2_off();
+        ain1_pwm(duty);
    }
    else
    {
-        stop();
+        // Reverse
+        ain1_off();
+        ain2_pwm(duty);
    }
 }


 bool MotorDriver::fault_active()
 {
-    return !(PIND & (1 << PIND4));
+    return !(PIND & (1 << PIND4));p
 }
@@ -8,7 +8,7 @@ void OperationalState::enter()
 {
    Serial.println("State: Operational");

-    digitalWrite(LED_BUILTIN, HIGH);
+    context->led_on();
 }

 // Part 1 
@@ -50,5 +50,5 @@ void OperationalState::exit()
 {
    context->stop_motor();

-    digitalWrite(LED_BUILTIN, LOW);
+    context->led_off();
 }
@@ -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)
-    , prev_count(0)
+    : count(0)
+    , delta(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
-
-    prev_count = count;
+    delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga

    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();
 }
-
-
@@ -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();    
-}
-
- */
@@ -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);
-    }
-}
-*/
Author	SHA1	Message	Date
isakg22	fa30d35401	Merge branch 'main' of ssh://gitea.cs.ru.is:2222/helgie22/ESP_Project3_H26 into Isak_part2	2026-09-30 12:21:01 +00:00
helgie22	1e02205344	Encoder fyrir position í int32, stöðuvél án null-pointera, nefndir fastar, LED gegnum context	2026-09-30 11:55:41 +00:00
helgie22	c46539a57b	Initialization bíður 2 s, mótor stöðvast alveg, hreinsun - 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	2026-09-30 11:49:51 +00:00