Merging main with Isak_part2 branch

docs/diagrams/src/motor_state.wsd

@@ -11,13 +11,11 @@ skinparam state {
 
 state Initialization 
     Initialization : Entry / Stop motor 
-    Initialization : Do / Initialize internal parameters
+    Initialization : Entry / Initialize internal parameters
-    Initialization : Do / Reset speed measurement
+    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
@@ -28,9 +26,7 @@ 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

@@ -1,18 +0,0 @@
-#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 = 2000UL;
+    static const unsigned long WAIT_MS = 2000;
 
     unsigned long enter_time_ms = 0;
 

include/motor_controller.h

@@ -3,9 +3,7 @@
 
 #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;
@@ -20,15 +18,13 @@ private:
 
     State* current_state;
 
-    State& initialization_state;
+    State* initialization_state;
-    State& operational_state;
+    State* operational_state;
-    State& stopped_state;
+    State* stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
-    //P_controller& controller;
+    P_controller& controller;
-    //PI_controller& controller;
-    Controller& controller;
 
     Digital_out led;
 
@@ -39,21 +35,13 @@ public:
     MotorController(
         RotaryEncoderDriver& encoder,
         MotorDriver& motor,
-        //P_controller& controller,
+        P_controller& controller,
-        Controller& controller,
         State& initialization,
         State& operational,
-        State& stopped
+        state& stopped
     );
 
 
-    // void set_states(
-    //     State* initialization,
-    //     State* operational,
-    //     State* stopped
-    // );
-
-
     void begin();
 
     void update();
@@ -78,17 +66,9 @@ public:
 
     void reset_speed_measurement();
 
-    void reset_controller();
-
-
-
     void led_on();
 
     void led_off();
-
-    
 };
 
-
-
 #endif

include/p_controller.h

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

include/pi_controller.h

@@ -1,27 +0,0 @@
-#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

platformio.ini

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

src/initialization_state.cpp

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

src/main.cpp

@@ -3,8 +3,7 @@
 
 #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"
 
@@ -17,15 +16,10 @@ 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;
 
@@ -39,8 +33,7 @@ MotorController motor_controller(
     motor,
     controller,
     initialization_state,
-    operational_state,
+    operational_state
-    stopped_state
 );
 
 
@@ -60,11 +53,11 @@ int main()
     sei();
 
 
-    // motor_controller.set_states(
+    motor_controller.set_states(
-    //     &initialization_state,
+        &initialization_state,
-    //     &operational_state,
+        &operational_state,
-    //     &stopped_state
+        &stopped_state
-    // );
+    );
 
 
     motor_controller.begin();

src/motor_controller.cpp

@@ -7,12 +7,9 @@
 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),
@@ -26,22 +23,9 @@ 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();
@@ -60,8 +44,6 @@ void MotorController::transition_to(State& new_state)
 
     current_state = &new_state;
 
-    current_state->set_context(this);
-
     current_state->enter();
 }
 
@@ -124,6 +106,17 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
+
+void MotorController::led_on()
+{
+    led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+    led.set_lo();
+}
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);
@@ -133,20 +126,3 @@ bool MotorController::fault_active()
 {
     return motor.fault_active();
 }
-
-void MotorController::reset_controller()
-{
-    controller.reset();
-}
-
-void MotorController::led_on()
-{
-   led.set_hi();
-}
-
-
-void MotorController::led_off()
-{
-   led.set_lo();
-}
-

src/pi_controller.cpp

@@ -1,57 +0,0 @@
-#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;
-}

test/test_pi_controller/test_main.cpp

@@ -1,28 +0,0 @@
-#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();
-}