Byrjaði á kóðum fyrir part 3 en lenti í veseni með test kóðann

docs/diagrams/src/motor_state.wsd

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

include/controller.h

@@ -0,0 +1,18 @@
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+class Controller
+{
+public:
+    virtual ~Controller()
+    {
+    }
+
+    virtual double update(double ref, double actual) = 0;
+
+    virtual void reset()
+    {
+    }
+};
+
+#endif

include/initialization_state.h

@@ -7,7 +7,7 @@
 class InitializationState : public State
 {
 private:
-    static const unsigned long WAIT_MS = 2000;
+    static const unsigned long WAIT_MS = 2000UL;
 
     unsigned long enter_time_ms = 0;
 

include/motor_controller.h

@@ -3,7 +3,9 @@
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+//#include "p_controller.h"
+//#include "pi_controller.h"
+#include "controller.h"
 #include "digital_out.h"
 
 class State;
@@ -24,7 +26,9 @@ private:
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    P_controller& controller;
+    //P_controller& controller;
+    //PI_controller& controller;
+    Controller& controller;
 
     Digital_out led;
 
@@ -35,13 +39,21 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        P_controller& controller,
+        //P_controller& controller,
+        Controller& controller,
         State& initialization,
         State& operational,
         State& stopped
     );
 
 
+    // void set_states(
+    //     State* initialization,
+    //     State* operational,
+    //     State* stopped
+    // );
+
+
     void begin();
 
     void update();
@@ -68,9 +80,15 @@ public:
 
     void reset_controller();
 
+
+
     void led_on();
 
     void led_off();
+
+    
 };
 
+
+
 #endif

include/p_controller.h

@@ -1,16 +1,20 @@
 #ifndef P_CONTROLLER_H
 #define P_CONTROLLER_H
 
-class P_controller
+#include "controller.h"
+
+class P_controller : public Controller
 {
-protected:
+private:
     double Kp;
 
 public:
     P_controller(double Kp);
-    virtual ~P_controller() {}
+
-    virtual double update(double ref, double actual);
+    double update(double ref, double actual) override;
-    virtual void reset() {}
+
+
+    
 };
 
 #endif

include/pi_controller.h

@@ -1,20 +1,26 @@
 #ifndef PI_CONTROLLER_H
 #define PI_CONTROLLER_H
 
-#include "p_controller.h"
+#include "controller.h"
 
-class PI_controller : public P_controller
+class PI_controller : public Controller
 {
-    private:
+private:
-        static constexpr double U_MAX = 100.0;  // %
+    double Kp;
-        static constexpr double U_MIN = -100.0; // %
-
     double Ti;
     double T;
+
     double integral;
-    public:
+
-        PI_controller(double Kp, double Ti, double T);
+public:
+    PI_controller(
+        double Kp,
+        double Ti,
+        double T
+    );
+
     double update(double ref, double actual) override;
+
     void reset() override;
 };
 

platformio.ini

@@ -16,10 +16,3 @@ 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>

src/initialization_state.cpp

@@ -15,7 +15,10 @@ void InitializationState::enter()
 
     context->reset_speed_measurement();
 
+    context->reset_controller();
+
     enter_time_ms = millis();
+
 }
 
 

src/main.cpp

@@ -1,11 +1,9 @@
-// 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"
@@ -19,13 +17,15 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double Kp = 12.5;
+//const double KP = 12.5;
-const double Ti = 1.0;
-const double T = 0.004;
 
-// P_controller controller(Kp);
+//P_controller controller(KP);
-PI_controller controller(Kp, Ti, T);
 
+PI_controller controller(
+    12.5,           // Kp
+    1.0,            // Ti
+    0.004           // T = 4 ms
+);
 
 InitializationState initialization_state;
 
@@ -59,6 +59,7 @@ int main()
 
     sei();
 
+
     // motor_controller.set_states(
     //     &initialization_state,
     //     &operational_state,
@@ -92,4 +93,3 @@ int main()
 // int main(){
 //     return 0;
 // }
-#endif // PIO_UNIT_TESTING

src/motor_controller.cpp

@@ -7,7 +7,9 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller,
+    //P_controller& controller,
+    //PI_controller& controller;
+    Controller& controller,
     State& initialization,
     State& operational,
     State& stopped
@@ -58,6 +60,8 @@ void MotorController::transition_to(State& new_state)
 
     current_state = &new_state;
 
+    current_state->set_context(this);
+
     current_state->enter();
 }
 
@@ -120,11 +124,6 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
-void MotorController::reset_controller()
-{
-    controller.reset();
-}
-
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);
@@ -135,6 +134,11 @@ bool MotorController::fault_active()
     return motor.fault_active();
 }
 
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
+
 void MotorController::led_on()
 {
    led.set_hi();
@@ -145,3 +149,4 @@ void MotorController::led_off()
 {
    led.set_lo();
 }
+

src/operational_state.cpp

@@ -8,8 +8,6 @@ void OperationalState::enter()
 {
     Serial.println("State: Operational");
 
-    context->reset_controller();
-
     context->led_on();
 }
 

src/pi_controller.cpp

@@ -1,31 +1,56 @@
 #include "pi_controller.h"
 
-PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+
+PI_controller::PI_controller(
+    double Kp,
+    double Ti,
+    double T
+)
+    : Kp(Kp),
+      Ti(Ti),
+      T(T),
+      integral(0.0)
 {
 }
 
 double PI_controller::update(double ref, double actual)
 {
-    double e = ref - actual;
+    return 0.0;
-    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;
 }
 
+// double PI_controller::update(double ref, double actual)
+// {
+//     double error = ref - actual;
+
+//     double new_integral =
+//         integral + error * T;
+
+//     double output =
+//         Kp * (error + new_integral / Ti);
+
+
+//     // Positive saturation
+//     if (output > 100.0)
+//     {
+//         return 100.0;
+//     }
+
+
+//     // Negative saturation
+//     if (output < -100.0)
+//     {
+//         return -100.0;
+//     }
+
+
+//     // Only save the integral if the controller
+//     // is not saturated
+//     integral = new_integral;
+
+//     return output;
+// }
+
+
 void PI_controller::reset()
 {
     integral = 0.0;

test/test_pi_controller/test_main.cpp

@@ -1,150 +1,28 @@
 #include <unity.h>
 
-// #ifdef ARDUINO
+//#include "p_controller.h"
-#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 KI = 1.0;
 static const double T = 0.1;
-static const double TOL = 1e-4;  // double er 32-bita float a AVR
+static const double TOL = 1e-4; // Tolerance
 
-// void setUp(void) {}
+void test_positive_error()
-// void tearDown(void) {}
-
-// Normal flow: engin villa -> ekkert úttak
-void test_zero_error_gives_zero_output(void)
 {
-    PI_controller c(KP, TI, T);
+    PI_controller controller(KP, KI, T);
-    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+
+    double output = controller.update(10.0, 8.0);
+
+    TEST_ASSERT_DOUBLE_WITHIN(TOL, 4.4, output);
 }
 
-// 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)
+int main()
-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_positive_error);
-    RUN_TEST(test_integral_accumulates);
+
-    RUN_TEST(test_output_held_when_error_zero);
+    return UNITY_END();
-    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