added state machine behaviour with switch/case

.gitignore

@@ -1,15 +1,6 @@
 .pio
 venv
-__pycache__
-*.csv
-*.typ
-*.pdf
 *.py
-*.png
 *.csv
 scripts
-
+*.typ
-# Skrár sem PlatformIO býr til sjálft
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-compile_commands.json

.vscode/c_cpp_properties.json

@@ -0,0 +1,56 @@
+//
+// !!! 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/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
+                "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+                "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/Wire/src",
+                ""
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "path": [
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/HID/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SPI/src",
+                    "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/SoftwareSerial/src",
+                    "C:/Users/helgi/.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/helgi/.platformio/packages/toolchain-atmelavr/bin/avr-gcc.exe",
+            "compilerArgs": [
+                "-mmcu=atmega328p",
+                ""
+            ]
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,44 @@
+// 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/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.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/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
+            "internalConsoleOptions": "openOnSessionStart"
+        },
+        {
+            "type": "platformio-debug",
+            "request": "launch",
+            "name": "PIO Debug (without uploading)",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "projectEnvName": "nanoatmega328new",
+            "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
+            "internalConsoleOptions": "openOnSessionStart",
+            "loadMode": "manual"
+        }
+    ]
+}

compile_commands.json

@@ -0,0 +1,200 @@
+[
+    {
+        "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

@@ -1,36 +0,0 @@
-@startuml
-' skinparam linetype ortho
-' skinparam nodesep 100
-skinparam ranksep 80
-
-skinparam state {
-    BackgroundColor LightBlue
-}
-
-[*] --> Initialization
-
-state Initialization 
-    Initialization : Entry / Stop motor 
-    Initialization : Entry / Initialize internal parameters
-    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 and 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
-
-Stopped --> Initialization : reset
-Stopped --> Operational : set operational
-
-@enduml

include/initialization_state.h

@@ -1,24 +0,0 @@
-#ifndef INITIALIZATION_STATE_H
-#define INITIALIZATION_STATE_H
-
-#include "state.h"
-
-
-class InitializationState : public State
-{
-private:
-    static const unsigned long WAIT_MS = 2000;
-
-    unsigned long enter_time_ms = 0;
-
-public:
-    void enter() override;
-
-    void update() override;
-
-    void command(char c) override;
-
-    void exit() override;
-};
-
-#endif

include/motor_controller.h

@@ -1,86 +0,0 @@
-#ifndef MOTOR_CONTROLLER_H
-#define MOTOR_CONTROLLER_H
-
-#include "rotary_encoder_driver.h"
-#include "motor_driver.h"
-#include "p_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 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& operational_state;
-    State& stopped_state;
-
-    RotaryEncoderDriver& encoder;
-    MotorDriver& motor;
-    P_controller& controller;
-
-    Digital_out led;
-
-    double reference_rpm;
-
-
-public:
-    MotorController(
-        RotaryEncoderDriver& encoder,
-        MotorDriver& motor,
-        P_controller& controller,
-        State& initialization,
-        State& operational,
-        State& stopped
-    );
-
-
-    void begin();
-
-    void update();
-
-    void command(char c);
-
-    void transition_to(State& new_state);
-
-
-    void to_initialization();
-
-    void to_operational();
-
-    void to_stopped();
-
-    bool fault_active();
-
-
-    // Skilar true ef ný mæling var tekin og sample fyllt út
-    bool run_speed_controller(ControlSample& sample);
-
-    void stop_motor();
-
-    void reset_speed_measurement();
-
-    void reset_controller();
-
-    void led_on();
-
-    void led_off();
-};
-
-#endif

include/motor_driver.h

@@ -9,14 +9,10 @@ public:
     void begin();
 
     void forward();
-
     void reverse();
-
     void stop();
 
     void set(double pwm);
-
-    bool fault_active();   // Fault detection for part 2
 };
 
 #endif

include/operational_state.h

@@ -1,27 +0,0 @@
-#ifndef OPERATIONAL_STATE_H
-#define OPERATIONAL_STATE_H
-
-#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;
-
-    void update() override;
-
-    void command(char c) override;
-
-    void exit() override;
-};
-
-#endif

include/p_controller.h

@@ -3,14 +3,13 @@
 
 class P_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);
-    virtual void reset() {}
 };
 
-#endif
+#endif

include/pi_controller.h

@@ -1,21 +0,0 @@
-#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

@@ -4,45 +4,39 @@
 #include <stdint.h>
 
 #include "digital_in.h"
+#include "digital_out.h"
 #include "timer_usec.h"
 
 class RotaryEncoderDriver {
-public:
+    static const uint8_t HIST_LEN = 4;   // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning
-    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
-    static constexpr float COUNTS_PER_REV = 1050.0f;
 
-private:
+    volatile uint8_t cycle;
-    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
+    volatile int16_t count;
-
+    volatile int16_t prev_count;
-    volatile int32_t count;
-    volatile int16_t delta;
     volatile bool speed_ready;
 
-    volatile int32_t history[HIST_LEN];
+    volatile int16_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();
-
     float count_per_sec();
-
     float rpm();
 
     bool new_speed_available();
-
     void reset_speed_measurement();
 
 };

include/state.h

@@ -1,32 +0,0 @@
-#ifndef STATE_H
-#define STATE_H
-
-class MotorController;
-
-class State
-{
-protected:
-    MotorController* context = nullptr;
-
-public:
-    virtual ~State()
-    {
-        
-    }
-
-    void set_context(MotorController* context)
-    {
-        this->context = context;
-    }
-
-    virtual void enter() = 0;   // LED ON
-
-    virtual void update() = 0;  // run motor controller
-
-    virtual void command(char c) = 0;   // Listen for reset
-
-    virtual void exit() = 0;  // Stop motor
-
-};
-
-#endif

include/stopped_state.h

@@ -1,25 +0,0 @@
-#ifndef STOPPED_STATE_H
-#define STOPPED_STATE_H
-
-#include "state.h"
-
-class StoppedState : public State
-{
-private:
-    unsigned long previous_time; // Used for blinking LED
-    bool led_state;              // Ditto
-
-public:
-    StoppedState();
-
-    void enter() override;
-
-    void update() override;
-
-    void command(char c) override;
-
-    void exit() override;
-
-};
-
-#endif

platformio.ini

@@ -13,13 +13,4 @@ platform = atmelavr
 board = nanoatmega328new
 framework = arduino
 
-monitor_speed = 115200
+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

@@ -1,176 +0,0 @@
-#!/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).
-
-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.
-
-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)
-
-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
-    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
-            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: ...")
-                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):
-    time_s = [t / 1000.0 for t in cols["time_ms"]]
-    ref_rpm = cols["ref_rpm"]
-    actual_rpm = cols["actual_rpm"]
-    pwm_actual = cols["pwm_actual"]
-    show_pwm = show_pwm and len(pwm_actual) == len(time_s)
-
-    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)
-
-    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
-
-    # 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")
-
-    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")
-
-    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"
-    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__":
-    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 ""
-    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)

src/initialization_state.cpp

@@ -1,40 +0,0 @@
-#include "initialization_state.h"
-#include "motor_controller.h"
-
-#include <Arduino.h>
-
-
-void InitializationState::enter()
-{
-    Serial.println();
-    Serial.println("State: Initialization");
-
-    context->led_off();
-
-    context->stop_motor();
-
-    context->reset_speed_measurement();
-
-    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();
-    }
-}
-
-
-void InitializationState::command(char c)
-{
-}
-
-
-void InitializationState::exit()
-{
-    Serial.println("Boot-up");
-}

src/main.cpp

@@ -1,95 +1,166 @@
-// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+#include <avr/io.h>
-#ifndef PIO_UNIT_TESTING
+#include <util/delay.h>
-
 #include <Arduino.h>
 #include <avr/interrupt.h>
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "pi_controller.h"
+#include "p_controller.h"
 
-#include "motor_controller.h"
+// RotaryEncoderDriver encoder;
+// MotorDriver motor;
 
-#include "initialization_state.h"
+// P_controller controller(12.5);
-#include "operational_state.h"
-#include "stopped_state.h"
 
+// const double REF_RPM1 = 30.0;
+// const double REF_RPM2 = 50.0;
 
-RotaryEncoderDriver encoder;
+// const uint16_t STEP1_AT_SAMPLE = 50; 
+// const uint16_t STEP2_AT_SAMPLE = 500;
 
-MotorDriver motor;
+// const uint16_t STOP_AT_SAMPLE = 1000;  
 
-const double Kp = 10.125; // Ku * 0.45
+unsigned long state_entry_time;
-const double Ti = 0.0334; //  Tu * 0.83 37
-const double T = 0.004; // 0.004
 
-// P_controller controller(Kp);
+unsigned long time_in_state()
-PI_controller controller(Kp, Ti, T);
-
-
-InitializationState initialization_state;
-
-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();
+  return millis() - state_entry_time;
-
-    Serial.begin(115200);
-
-
-    cli();
-
-    encoder.begin();
-
-    motor.begin();
-
-    sei();
-    
-    // motor_controller.set_states(
-    //     &initialization_state,
-    //     &operational_state,
-    //     &stopped_state
-    // );
-
-
-    motor_controller.begin();
-
-
-    while (true)
-    {
-        if (Serial.available() > 0)
-        {
-            char c = Serial.read();
-
-            if (c != '\n' && c != '\r')
-            {
-                motor_controller.command(c);
-            }
-        }
-
-
-        motor_controller.update();
-    }
-
-
-    return 0;
 }
 
-// int main(){
+int main() {
-//     return 0;
+    init();
-// }
+    Serial.begin(115200);
-#endif // PIO_UNIT_TESTING
+    // Serial.begin(9600);
+    sei();
+
+    enum State
+        {
+        Initialization,
+        Operational,
+        Pre_Operational,
+        Stopped
+        };
+
+    State state = State::Initialization; // Define state variable and set the initial state
+
+    // 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 (1) {
+        int c = 0; // for incoming serial data
+
+        if (Serial.available() > 0)
+        {
+        c = Serial.read();
+        Serial.print("I received: ");
+        Serial.println(c, DEC);
+        }
+
+        switch (state)
+        {
+        case State::Initialization:
+            if (c == 'p')
+            {
+            state_entry_time = millis();
+            // State::Idle exit action
+            // event1 transition action
+            Serial.println("Initialization finished");
+            // set new target state
+            state = State::Pre_Operational;
+            // target state entry action
+            Serial.println("Going into Pre Operation");
+            }
+            if (c == 'o')
+            {
+            state_entry_time = millis();
+            // State::Idle exit action
+            // event2 transition action
+            Serial.println("Initialization finished");
+            // set new target state
+            state = State::Operational;
+            // target state entry action
+            Serial.println("Going straight to Operation");
+            }
+            break;
+
+        case State::Operational:
+            if (c == 'i')
+            {
+            state_entry_time = millis();
+            // State::Cooling exit action
+            Serial.println("Operation over");
+            // event3 transition action
+            // set new target state
+            state = State::Initialization;
+            // target state entry action
+            Serial.println("Initialization state");
+            }
+            if (c == 's')
+            {
+            state_entry_time = millis();
+            // State::Cooling exit action
+            Serial.println("Operation over");
+            // event4 transition action
+            // set new target state
+            state = State::Stopped;
+            // target state entry action
+            Serial.println("Stopping");
+            }
+            break;
+
+        case State::Pre_Operational:
+            if (c == 'o')
+            {
+            state_entry_time = millis();
+            // State::Heating exit action
+            Serial.println("Pre Operation over");
+            // event3 transition action
+            // set new target state
+            state = State::Operational;
+            // target state entry action
+            Serial.println("Going to Operation");
+            }
+            if (c == 's')
+            {
+            state_entry_time = millis();
+            // State::Heating exit action
+            Serial.println("Pre Operation over");
+            // event4 transition action
+            // set new target state
+            state = State::Stopped;
+            // target state entry action
+            Serial.println("Stopping");
+            }
+            break;
+
+            case State::Stopped:
+            if (c == 'i')
+            {
+            state_entry_time = millis();
+            // State::Failure exit action
+            Serial.println("Stop over");
+            // event3 transition action
+            // set new target state
+            state = State::Initialization;
+            // target state entry action
+            Serial.println("Initialization state");
+            }
+
+            }
+        }
+    return 0;
+}

src/motor_controller.cpp

@@ -1,166 +0,0 @@
-#include "motor_controller.h"
-#include "state.h"
-
-#include <Arduino.h>
-
-
-MotorController::MotorController(
-    RotaryEncoderDriver& encoder,
-    MotorDriver& motor,
-    P_controller& controller,
-    State& initialization,
-    State& operational,
-    State& stopped
-)
-    : current_state(nullptr),
-      initialization_state(initialization),
-      operational_state(operational),
-      stopped_state(stopped),
-      encoder(encoder),
-      motor(motor),
-      controller(controller),
-      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(
-//     State* initialization,
-//     State* operational,
-//     State* stopped
-// )
-
-    // initialization_state = initialization;
-    // operational_state = operational;
-    // stopped_state = stopped;
-
-
-
-void MotorController::begin()
-{
-    led.init();
-    led.set_lo();
-
-    transition_to(initialization_state);
-}
-
-
-void MotorController::transition_to(State& new_state)
-{
-    if (current_state != nullptr)
-    {
-        current_state->exit();
-    }
-
-    current_state = &new_state;
-
-    current_state->enter();
-}
-
-
-void MotorController::update()
-{
-    if (current_state != nullptr)
-    {
-        current_state->update();
-    }
-}
-
-
-void MotorController::command(char c)
-{
-    if (current_state != nullptr)
-    {
-        current_state->command(c);
-    }
-}
-
-
-void MotorController::to_initialization()
-{
-    transition_to(initialization_state);
-}
-
-
-void MotorController::to_operational()
-{
-    transition_to(operational_state);
-}
-
-
-bool MotorController::run_speed_controller(ControlSample& sample)
-{
-    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;
-
-    // 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;
-}
-
-
-void MotorController::stop_motor()
-{
-    motor.stop();
-}
-
-
-void MotorController::reset_speed_measurement()
-{
-    encoder.reset_speed_measurement();
-}
-
-void MotorController::reset_controller()
-{
-    controller.reset();
-}
-
-void MotorController::to_stopped()
-{
-    transition_to(stopped_state);
-}
-
-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

@@ -3,37 +3,6 @@
 #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()
 {
 }
@@ -43,16 +12,10 @@ void MotorDriver::begin()
 {
     // Arduino D3  = PD3 = AIN1
     // Arduino D11 = PB3 = AIN2
-    // Arduino D4  = PD4 = FLT 
 
     DDRD |= (1 << DDD3);
     DDRB |= (1 << DDB3);
 
-    DDRD &= ~(1 << DDD4); 
-
-    PORTD |= (1 << PORTD4); // Enable pull-up resistor on D4 for part 2
-
-
     // Timer2 Fast PWM
     TCCR2A = 0;
     TCCR2B = 0;
@@ -61,32 +24,57 @@ 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);
 
-    // PWM-úttök eru tengd í set() eftir þörfum
+    OCR2A = 0;
-    stop();
+    OCR2B = 0;
+
+    //stop();
 }
 
 
 void MotorDriver::forward()
 {
-    set(255.0);
+    // AIN1 / D3  = HIGH
+    // AIN2 / D11 = LOW
+
+    //PORTD |= (1 << PORTD3);
+    //PORTB &= ~(1 << PORTB3);
+
+    OCR2A = 0;
+    OCR2B = 255;
 }
 
 
 void MotorDriver::reverse()
 {
-    set(-255.0);
+    // AIN1 / D3  = LOW
+    // AIN2 / D11 = HIGH
+
+    //PORTD &= ~(1 << PORTD3);
+    //PORTB |= (1 << PORTB3);
+
+    OCR2B = 0;
+    OCR2A = 255;
 }
 
 
 void MotorDriver::stop()
 {
     // Both LOW
-    ain1_off();
+
-    ain2_off();
+    //PORTD &= ~(1 << PORTD3);
+    //PORTB &= ~(1 << PORTB3);
+
+    OCR2A = 0;
+    OCR2B = 0;
 }
 
 void MotorDriver::set(double pwm)
@@ -103,28 +91,20 @@ void MotorDriver::set(double pwm)
     }
 
 
-    uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
+    if (pwm > 0)
-
-    if (duty == 0)
-    {
-        stop();
-    }
-    else if (pwm > 0)
     {
         // Forward
-        ain2_off();
+        OCR2A = 0;
-        ain1_pwm(duty);
+        OCR2B = (uint8_t)pwm;
+    }
+    else if (pwm < 0)
+    {
+        // Reverse
+        OCR2B = 0;
+        OCR2A = (uint8_t)(-pwm);
     }
     else
     {
-        // Reverse
+        stop();
-        ain1_off();
-        ain2_pwm(duty);
     }
-}
+}
-
-
-bool MotorDriver::fault_active()
-{
-    return !(PIND & (1 << PIND4));
-}

src/operational_state.cpp

@@ -1,74 +0,0 @@
-#include "operational_state.h"
-#include "motor_controller.h"
-
-#include <Arduino.h>
-
-
-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 
-
-//void OperationalState::update()
-//{
-//    context->run_speed_controller();
-//}
-
-// Part 2
-
-void OperationalState::update()
-{
-    if (context->fault_active())
-    {
-        Serial.println("Fault detected");
-
-        context->to_stopped();
-
-        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);
-    }
-}
-
-
-void OperationalState::command(char c)
-{
-    if (c == 'r' || c == 'R')
-    {
-        Serial.println("Command: reset");
-
-        context->to_initialization();
-    }
-}
-
-
-void OperationalState::exit()
-{
-    context->stop_motor();
-
-    context->led_off();
-}

src/pi_controller.cpp

@@ -1,32 +0,0 @@
-#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

@@ -1,71 +1,73 @@
 #include "rotary_encoder_driver.h"
 #include <avr/interrupt.h>
 
-static RotaryEncoderDriver* driver = nullptr;
+RotaryEncoderDriver* driver = nullptr;
 
 RotaryEncoderDriver::RotaryEncoderDriver()
-    : count(0)
+    : cycle(0)
-    , delta(0)
+    , count(0)
+    , prev_count(0)
     , speed_ready(false)
     , hist_idx(0)
+    , led(5)
     , eA(2)
     , eB(5)
 {
-    for (uint8_t i = 0; i < HIST_LEN; i++)
+    for (uint8_t i = 0; i < HIST_LEN; i++) {
-    {
         history[i] = 0;
     }
 }
 
 
-void RotaryEncoderDriver::begin()
+void RotaryEncoderDriver::begin() {
-{
     driver = this;
 
+    led.init();
     eA.init();
     eB.init();
 
     EICRA |= (1<<ISC01) | (1<<ISC00);
     EIMSK |= (1<<INT0);
 
-    timer.init(SAMPLE_PERIOD_US);
+    timer.init(4000);
 }
 
-void RotaryEncoderDriver::update()
+void RotaryEncoderDriver::update() {
-{
     count += eB.is_hi() ? 1 : -1;
+    led.set_hi();
 }
 
-int32_t RotaryEncoderDriver::position()
+int RotaryEncoderDriver::position() {
-{
 
     uint8_t oldSREG = SREG;
 
     cli();
 
-    int32_t local_count = count;
+    int16_t local_count = count;
 
     SREG = oldSREG;
 
+    led.set_lo();
+
     return local_count;
-}
+} 
 
-void RotaryEncoderDriver::update_delta()
+void RotaryEncoderDriver::update_delta() {
-{
-
-    int32_t oldest = history[hist_idx];
 
+    int16_t oldest = history[hist_idx];
     history[hist_idx] = count;
-
     hist_idx = (hist_idx + 1) % HIST_LEN;
 
-    delta = (int16_t)(count - oldest);   // breyting yfir HIST_LEN * Ts (16 ms) glugga
+    delta = count - oldest;   // breyting yfir HIST_LEN * Ts (40 ms) glugga
+
+    prev_count = count;
 
     speed_ready = true;
+
+    led.set_lo();
 }
 
-float RotaryEncoderDriver::count_per_sec()
+float RotaryEncoderDriver::count_per_sec() {
-{
 
     uint8_t oldSREG = SREG;
 
@@ -75,12 +77,14 @@ float RotaryEncoderDriver::count_per_sec()
 
     SREG = oldSREG;
 
-    return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
+    return local_delta / (HIST_LEN * 0.004f);
 }
 
 
 float RotaryEncoderDriver::rpm()
 {
+    const float COUNTS_PER_REV = 1050.0f;
+
     return count_per_sec() * 60.0f / COUNTS_PER_REV;
 }
 
@@ -109,24 +113,24 @@ void RotaryEncoderDriver::reset_speed_measurement()
 
     cli();
 
+    cycle = 0;
+    prev_count = count;
     delta = 0;
     speed_ready = false;
 
-    for (uint8_t i = 0; i < HIST_LEN; i++)
+    for (uint8_t i = 0; i < HIST_LEN; i++) {
-    {
         history[i] = count;
     }
-
     hist_idx = 0;
 
     SREG = oldSREG;
 }
 
-ISR(INT0_vect)
+ISR(INT0_vect) {
-{
     driver->update();
 }
-ISR(TIMER1_COMPA_vect)
+ISR(TIMER1_COMPA_vect) {
-{
+    driver->update_delta();    
-    driver->update_delta();
 }
+
+

src/rotary_encoder_driver_unused.cpp

@@ -0,0 +1,61 @@
+/* #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/stopped_state.cpp

@@ -1,70 +0,0 @@
-#include "stopped_state.h"
-#include "motor_controller.h"
-
-#include <Arduino.h>
-
-
-StoppedState::StoppedState()
-    : previous_time(0),
-      led_state(false)
-{
-}
-
-
-void StoppedState::enter()
-{
-    Serial.println("State: Stopped");
-
-    context->stop_motor();
-
-    led_state = false;
-
-    digitalWrite(LED_BUILTIN, LOW);
-
-    previous_time = millis();
-}
-
-// Controlling the blinking of the LED @ 2Hz
-
-void StoppedState::update()
-{
-    unsigned long current_time = millis();
-
-    if (current_time - previous_time >= 250)
-    {
-        previous_time = current_time;
-
-        led_state = !led_state;
-
-        digitalWrite(
-            LED_BUILTIN,
-            led_state ? HIGH : LOW
-        );
-    }
-}
-
-
-// Commands for Stopped [ r = reset and o for operational]
-
-void StoppedState::command(char c)
-{
-    if (c == 'r' || c == 'R')
-    {
-        Serial.println("Command: reset");
-
-        context->to_initialization();
-    }
-
-    else if (c == 'o' || c == 'O')
-    {
-        Serial.println("Command: set operational");
-
-        context->to_operational();
-    }
-}
-
-
-void StoppedState::exit()
-{
-    digitalWrite(LED_BUILTIN, LOW);
-}

src/temporary_main.cpp

@@ -0,0 +1,53 @@
+/* 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

@@ -1,150 +0,0 @@
-#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