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

.gitignore

@@ -4,12 +4,8 @@ __pycache__
 *.csv
 *.typ
 *.pdf
-*.py
-*.png
-*.csv
-scripts
 
-# Skrár sem PlatformIO býr til sjálft
+# Vélarsértækar skrár sem PlatformIO býr til sjálft
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 compile_commands.json

docs/diagrams/src/motor_state.wsd

@@ -10,12 +10,14 @@ skinparam state {
 [*] --> Initialization
 
 state Initialization 
-    Initialization : Entry / Stop motor 
-    Initialization : Entry / Initialize internal parameters
-    Initialization : Entry / Reset speed measurement
+    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
 
+
+
 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

@@ -3,25 +3,18 @@
 
 #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;
 
 
-// Gildi úr einni keyrslu á hraðastýringunni, til útprentunar
-struct ControlSample
-{
-    double ref_rpm;
-    double actual_rpm;
-    double pwm_actual;
-};
-
-
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
+    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
 
@@ -33,7 +26,9 @@ private:
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    P_controller& controller;
+    //P_controller& controller;
+    //PI_controller& controller;
+    Controller& controller;
 
     Digital_out led;
 
@@ -44,13 +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();
@@ -69,8 +72,7 @@ public:
     bool fault_active();
 
 
-    // Skilar true ef ný mæling var tekin og sample fyllt út
-    bool run_speed_controller(ControlSample& sample);
+    void run_speed_controller();
 
     void stop_motor();
 
@@ -78,9 +80,15 @@ public:
 
     void reset_controller();
 
+
+
     void led_on();
 
     void led_off();
+
+    
 };
 
+
+
 #endif

include/operational_state.h

@@ -3,17 +3,9 @@
 
 #include "state.h"
 
-#include <stdint.h>
-
 
 class OperationalState : public State
 {
-private:
-    static constexpr double SAMPLE_PERIOD_MS = 4.0;
-
-    // uint32_t svo teljarinn flæði ekki yfir eftir ~4 mín (eins og uint16_t)
-    uint32_t sample_count = 0;
-
 public:
     void enter() override;
 

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);
-    virtual void reset() {}
+
+    double update(double ref, double actual) override;
+
+
+    
 };
 
-#endif
+#endif

include/pi_controller.h

@@ -1,21 +1,27 @@
 #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:
-        static constexpr double U_MAX = 100.0;  // %
-        static constexpr double U_MIN = -100.0; // %
+private:
+    double Kp;
+    double Ti;
+    double T;
 
-        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;
+    double integral;
+
+public:
+    PI_controller(
+        double Kp,
+        double Ti,
+        double T
+    );
+
+    double update(double ref, double actual) override;
+
+    void reset() override;
 };
 
-#endif
+#endif

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>

scripts/plot_step_response.py

@@ -1,113 +1,46 @@
 #!/usr/bin/env python3
 """
 Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
-i Operational state (dalkar: time_ms, ref_rpm, actual_rpm, pwm_actual).
+(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
 
-pwm_actual = stýrimerkid klippt vid +-255, þ.e. þad sem raunverulega
-             var sent a motor.set() / vélbúnaðinn
-
-Hausinn er prentadur i hvert skipti sem farid er inn i Operational, svo ein
-skra getur innihaldid nokkrar keyrslur. Adeins sidasta keyrslan er teiknud.
-
-Skriptan metur lika sveiflutima (Tu) og utslag ef kerfid sveiflast, sem
-nytist til ad finna Ku/Tu fyrir Ziegler-Nichols.
+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] [--no-pwm]
-
---no-pwm teiknar bara RPM (PWM-dalkurinn ma lika vanta i CSV-skranni)
+    python plot_step_response.py [inntak.csv] [uttak.png] [titill]
 
 Sjalfgefid: data/step_response.csv -> data/step_response.png
 """
 import sys
 import csv
-import statistics
 import matplotlib.pyplot as plt
 
 
-COLUMNS = ["time_ms", "ref_rpm", "actual_rpm", "pwm_actual"]
-REQUIRED = ["time_ms", "ref_rpm", "actual_rpm"]
-
-# Onnur nofn sem eldri utgafur firmware-sins hafa notad fyrir sama dalk
-ALIASES = {"pwm": "pwm_actual"}
-
-
-def empty_cols():
-    return {key: [] for key in COLUMNS}
-
-
 def load_csv(path):
-    cols = empty_cols()
-    header = None
+    cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
+            "pwm_requested": [], "pwm_actual": []}
     with open(path, newline="") as f:
-        for row in csv.reader(f):
-            if row and row[0].strip() == "time_ms":
-                header = [name.strip() for name in row]
-                header = [ALIASES.get(name, name) for name in header]
-                missing = [key for key in REQUIRED if key not in header]
-                if missing:
-                    sys.exit(f"Dalka vantar i haus {row}: {missing}")
-                continue
-            if header is None:
-                # rusl a undan fyrsta haus (t.d. "State: Initialization")
-                continue
+        reader = csv.DictReader(f)
+        for row in reader:
             try:
-                values = {key: float(row[header.index(key)])
-                          for key in COLUMNS if key in header}
-            except (ValueError, IndexError):
-                # sleppir linum sem eru ekki gild data (t.d. "State: ...")
+                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
-
-            # Timinn byrjar aftur a 0 -> ny keyrsla, hendum theirri gomlu
-            if cols["time_ms"] and values["time_ms"] <= cols["time_ms"][-1]:
-                cols = empty_cols()
-
-            for key in values:
-                cols[key].append(values[key])
     return cols
 
 
-def estimate_oscillation(time_s, actual_rpm):
-    """
-    Metur sveiflutima ut fra uppleid i gegnum medaltal seinni helmings
-    gagnanna (fyrri helmingur er transient). Hysteresis kemur i veg fyrir
-    ad sudid i rpm-maelingunni gefi falskar skurdpunkta.
-    Skilar (Tu [s], utslag [rpm]) eda None ef engin skyr sveifla.
-    """
-    half = len(actual_rpm) // 2
-    t = time_s[half:]
-    y = actual_rpm[half:]
-    if len(y) < 20:
-        return None
-
-    mean = statistics.fmean(y)
-    band = 0.25 * statistics.pstdev(y)
-    if band == 0:
-        return None
-
-    crossings = []
-    below = y[0] < mean - band
-    for ti, yi in zip(t, y):
-        if below and yi > mean + band:
-            crossings.append(ti)
-            below = False
-        elif not below and yi < mean - band:
-            below = True
-
-    if len(crossings) < 3:
-        return None
-
-    periods = [b - a for a, b in zip(crossings, crossings[1:])]
-    amplitude = (max(y) - min(y)) / 2.0
-    return statistics.fmean(periods), amplitude
-
-
-def plot(cols, out_path, title_suffix="", show_pwm=True):
+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"]
-    show_pwm = show_pwm and len(pwm_actual) == len(time_s)
 
     fig, ax1 = plt.subplots(figsize=(10, 5))
 
@@ -119,17 +52,14 @@ def plot(cols, out_path, title_suffix="", show_pwm=True):
     ax1.set_ylabel("Angular velocity [RPM]")
     ax1.grid(True, alpha=0.3)
 
-    lines, labels = ax1.get_legend_handles_labels()
-    if show_pwm:
-        ax2 = ax1.twinx()
-        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]")
-        lines2, labels2 = ax2.get_legend_handles_labels()
-        lines += lines2
-        labels += labels2
+    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)
@@ -139,23 +69,12 @@ def plot(cols, out_path, title_suffix="", show_pwm=True):
         ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
                   fontsize=9, va="bottom")
 
-    osc = estimate_oscillation(time_s, actual_rpm)
-    # if osc is not None:
-    #     tu, amplitude = osc
-    #     print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
-    #     ax1.text(0.99, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
-    #                           f"amplitude ≈ ±{amplitude:.2f} RPM",
-    #               transform=ax1.transAxes, fontsize=9, va="top", ha="right",
-    #               bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
-    # else:
-    #     print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
+    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)
 
-    ax1.legend(lines, labels, loc="lower right", fontsize=8)
-
-    if show_pwm:
-        title = "Step response: RPM and PWM over time"
-    else:
-        title = "Step response: RPM over time"
+    title = "Double step response: RPM and PWM over time"
     if title_suffix:
         title += f" ({title_suffix})"
     fig.suptitle(title)
@@ -165,12 +84,8 @@ def plot(cols, out_path, title_suffix="", show_pwm=True):
 
 
 if __name__ == "__main__":
-    show_pwm = "--no-pwm" not in sys.argv
-    args = [a for a in sys.argv[1:] if a != "--no-pwm"]
-    in_path = args[0] if len(args) > 0 else "data/step_response.csv"
-    out_path = args[1] if len(args) > 1 else "data/step_response.png"
-    title_suffix = args[2] if len(args) > 2 else ""
+    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)
-    if not data["time_ms"]:
-        sys.exit(f"Engin gogn fundust i {in_path}")
-    plot(data, out_path, title_suffix, show_pwm)
+    plot(data, out_path, title_suffix)

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 = 10.125; // Ku * 0.45
-const double Ti = 0.0334; //  Tu * 0.83 37
-const double T = 0.004; // 0.004
+//const double KP = 12.5;
 
-// P_controller controller(Kp);
-PI_controller controller(Kp, Ti, T);
+//P_controller controller(KP);
 
+PI_controller controller(
+    12.5,           // Kp
+    1.0,            // Ti
+    0.004           // T = 4 ms
+);
 
 InitializationState initialization_state;
 
@@ -58,7 +58,8 @@ int main()
     motor.begin();
 
     sei();
-    
+
+
     // motor_controller.set_states(
     //     &initialization_state,
     //     &operational_state,
@@ -91,5 +92,4 @@ 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();
 }
 
@@ -92,39 +96,20 @@ void MotorController::to_operational()
 }
 
 
-bool MotorController::run_speed_controller(ControlSample& sample)
+void MotorController::run_speed_controller()
 {
-    if (!encoder.new_speed_available())
+    if (encoder.new_speed_available())
     {
-        return false;
+        double actual = encoder.rpm();
+
+        double pwm_percent =
+            controller.update(reference_rpm, actual);
+
+        double pwm =
+            pwm_percent * PWM_PER_PERCENT;
+
+        motor.set(pwm);
     }
-
-    double actual = encoder.rpm();
-
-    double pwm_percent =
-        controller.update(reference_rpm, actual);
-
-    double pwm =
-        pwm_percent * PWM_PER_PERCENT;
-
-    // Klippt hér svo pwm_actual sé nákvæmlega það sem fer á mótorinn
-    if (pwm > 255.0)
-    {
-        pwm = 255.0;
-    }
-
-    if (pwm < -255.0)
-    {
-        pwm = -255.0;
-    }
-
-    motor.set(pwm);
-
-    sample.ref_rpm = reference_rpm;
-    sample.actual_rpm = actual;
-    sample.pwm_actual = pwm;
-
-    return true;
 }
 
 
@@ -139,11 +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);
@@ -154,6 +134,11 @@ bool MotorController::fault_active()
     return motor.fault_active();
 }
 
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
+
 void MotorController::led_on()
 {
    led.set_hi();
@@ -164,3 +149,4 @@ void MotorController::led_off()
 {
    led.set_lo();
 }
+

src/operational_state.cpp

@@ -8,14 +8,7 @@ void OperationalState::enter()
 {
     Serial.println("State: Operational");
 
-    context->reset_controller();
-
     context->led_on();
-
-    // Tíminn byrjar á 0 í hvert skipti sem farið er inn í Operational
-    sample_count = 0;
-
-    Serial.println("time_ms,ref_rpm,actual_rpm");
 }
 
 // Part 1 
@@ -38,20 +31,7 @@ void OperationalState::update()
         return;
     }
 
-    ControlSample sample;
-
-    if (context->run_speed_controller(sample))
-    {
-        sample_count++;
-
-        Serial.print(sample_count * SAMPLE_PERIOD_MS, 1);
-        Serial.print(",");
-        Serial.print(sample.ref_rpm, 1);
-        Serial.print(",");
-        Serial.println(sample.actual_rpm, 2);
-        // Serial.print(",");
-        // Serial.println(sample.pwm_actual, 1);
-    }
+    context->run_speed_controller();
 }
 
 

src/pi_controller.cpp

@@ -1,32 +1,57 @@
 #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;
-    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;
+    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 <Arduino.h>
-// #endif
-
-#include "p_controller.h"
+//#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 tearDown(void) {}
-
-// Normal flow: engin villa -> ekkert úttak
-void test_zero_error_gives_zero_output(void)
+void test_positive_error()
 {
-    PI_controller c(KP, TI, T);
-    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+    PI_controller controller(KP, KI, T);
+
+    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)
-void test_integral_accumulates(void)
+int main()
 {
-    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() {}
+    RUN_TEST(test_positive_error);
 
-// #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
+    return UNITY_END();
+}