UML diagram changed

docs/diagrams/src/motor_state.wsd

@@ -11,30 +11,17 @@ 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
     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

@@ -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;
@@ -22,13 +20,10 @@ 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;
 
@@ -39,21 +34,12 @@ 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();
@@ -67,10 +53,6 @@ public:
 
     void to_operational();
 
-    void to_stopped();
-
-    bool fault_active();
-
 
     void run_speed_controller();
 
@@ -78,17 +60,9 @@ public:
 
     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/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

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

@@ -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

@@ -3,35 +3,27 @@
 
 #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(
@@ -39,8 +31,7 @@ MotorController motor_controller(
     motor,
     controller,
     initialization_state,
-    operational_state,
+    operational_state
-    stopped_state
 );
 
 
@@ -60,13 +51,6 @@ int main()
     sei();
 
 
-    // motor_controller.set_states(
-    //     &initialization_state,
-    //     &operational_state,
-    //     &stopped_state
-    // );
-
-
     motor_controller.begin();
 
 

src/motor_controller.cpp

@@ -7,17 +7,13 @@
 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),
@@ -26,22 +22,9 @@ 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 +43,6 @@ void MotorController::transition_to(State& new_state)
 
     current_state = &new_state;
 
-    current_state->set_context(this);
-
     current_state->enter();
 }
 
@@ -124,20 +105,6 @@ 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()
 {
@@ -149,4 +116,3 @@ void MotorController::led_off()
 {
     led.set_lo();
 }
-

src/motor_driver.cpp

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

src/operational_state.cpp

@@ -11,26 +11,9 @@ 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

@@ -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;
-}

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);
-}

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();
-}