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

docs/diagrams/src/motor_state.wsd

@@ -23,8 +23,18 @@ state Operational
     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\n complete
 Operational --> Initialization : reset
+Operational --> Stopped : fault detected
+
+Stopped --> Initialization : reset
+Stopped --> Operational : set operational
 
 @enduml

include/controller.h

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

include/initialization_state.h

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

include/motor_controller.h

@@ -3,7 +3,9 @@
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+//#include "p_controller.h"
+//#include "pi_controller.h"
+#include "controller.h"
 #include "digital_out.h"
 
 class State;
@@ -20,10 +22,13 @@ private:
 
     State& initialization_state;
     State& operational_state;
+    State& stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    P_controller& controller;
+    //P_controller& controller;
+    //PI_controller& controller;
+    Controller& controller;
 
     Digital_out led;
 
@@ -34,12 +39,21 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        P_controller& controller,
+        //P_controller& controller,
+        Controller& controller,
         State& initialization,
-        State& operational
+        State& operational,
+        State& stopped
     );
 
 
+    // void set_states(
+    //     State* initialization,
+    //     State* operational,
+    //     State* stopped
+    // );
+
+
     void begin();
 
     void update();
@@ -53,6 +67,10 @@ public:
 
     void to_operational();
 
+    void to_stopped();
+
+    bool fault_active();
+
 
     void run_speed_controller();
 
@@ -60,9 +78,17 @@ public:
 
     void reset_speed_measurement();
 
+    void reset_controller();
+
+
+
     void led_on();
 
     void led_off();
+
+    
 };
 
+
+
 #endif

include/motor_driver.h

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

include/p_controller.h

@@ -1,7 +1,9 @@
 #ifndef P_CONTROLLER_H
 #define P_CONTROLLER_H
 
-class P_controller
+#include "controller.h"
+
+class P_controller : public Controller
 {
 private:
     double Kp;
@@ -9,7 +11,10 @@ private:
 public:
     P_controller(double Kp);
 
-    double update(double ref, double actual);
+    double update(double ref, double actual) override;
+
+
+    
 };
 
 #endif

include/pi_controller.h

@@ -0,0 +1,27 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+#include "controller.h"
+
+class PI_controller : public Controller
+{
+private:
+    double Kp;
+    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/stopped_state.h

@@ -0,0 +1,25 @@
+#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

@@ -14,4 +14,5 @@ board = nanoatmega328new
 framework = arduino
 
 monitor_speed = 115200
-
+test_framework = unity
+test_build_src = yes

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

@@ -3,27 +3,35 @@
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+//#include "p_controller.h"
+#include "pi_controller.h"
 
 #include "motor_controller.h"
 
 #include "initialization_state.h"
 #include "operational_state.h"
+#include "stopped_state.h"
 
 
 RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double KP = 12.5;
+//const double KP = 12.5;
 
-P_controller controller(KP);
+//P_controller controller(KP);
 
+PI_controller controller(
+    12.5,           // Kp
+    1.0,            // Ti
+    0.004           // T = 4 ms
+);
 
 InitializationState initialization_state;
 
 OperationalState operational_state;
 
+StoppedState stopped_state;
 
 // Stöðurnar verða að vera skilgreindar á undan motor_controller
 MotorController motor_controller(
@@ -31,7 +39,8 @@ MotorController motor_controller(
     motor,
     controller,
     initialization_state,
-    operational_state
+    operational_state,
+    stopped_state
 );
 
 
@@ -51,6 +60,13 @@ int main()
     sei();
 
 
+    // motor_controller.set_states(
+    //     &initialization_state,
+    //     &operational_state,
+    //     &stopped_state
+    // );
+
+
     motor_controller.begin();
 
 

src/motor_controller.cpp

@@ -7,13 +7,17 @@
 MotorController::MotorController(
     RotaryEncoderDriver& encoder,
     MotorDriver& motor,
-    P_controller& controller,
+    //P_controller& controller,
+    //PI_controller& controller;
+    Controller& controller,
     State& initialization,
-    State& operational
+    State& operational,
+    State& stopped
 )
     : current_state(nullptr),
       initialization_state(initialization),
       operational_state(operational),
+      stopped_state(stopped),
       encoder(encoder),
       motor(motor),
       controller(controller),
@@ -22,9 +26,22 @@ MotorController::MotorController(
 {
     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();
@@ -43,6 +60,8 @@ void MotorController::transition_to(State& new_state)
 
     current_state = &new_state;
 
+    current_state->set_context(this);
+
     current_state->enter();
 }
 
@@ -105,6 +124,20 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
+void MotorController::to_stopped()
+{
+    transition_to(stopped_state);
+}
+
+bool MotorController::fault_active()
+{
+    return motor.fault_active();
+}
+
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
 
 void MotorController::led_on()
 {
@@ -116,3 +149,4 @@ void MotorController::led_off()
 {
    led.set_lo();
 }
+

src/motor_driver.cpp

@@ -43,10 +43,16 @@ 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;
@@ -116,3 +122,9 @@ void MotorDriver::set(double pwm)
         ain2_pwm(duty);
     }
 }
+
+
+bool MotorDriver::fault_active()
+{
+    return !(PIND & (1 << PIND4));
+}

src/operational_state.cpp

@@ -11,9 +11,26 @@ void OperationalState::enter()
     context->led_on();
 }
 
+// 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;
+    }
+
     context->run_speed_controller();
 }
 

src/pi_controller.cpp

@@ -0,0 +1,57 @@
+#include "pi_controller.h"
+
+
+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)
+{
+    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;
+}

src/stopped_state.cpp

@@ -0,0 +1,70 @@
+#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);
+}

test/test_pi_controller/test_main.cpp

@@ -0,0 +1,28 @@
+#include <unity.h>
+
+//#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double KI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4; // Tolerance
+
+void test_positive_error()
+{
+    PI_controller controller(KP, KI, T);
+
+    double output = controller.update(10.0, 8.0);
+
+    TEST_ASSERT_DOUBLE_WITHIN(TOL, 4.4, output);
+}
+
+
+int main()
+{
+    UNITY_BEGIN();
+
+    RUN_TEST(test_positive_error);
+
+    return UNITY_END();
+}