added state machine behaviour with switch/case

.gitignore

@@ -1,11 +1,6 @@
 .pio
 venv
-__pycache__
+*.py
 *.csv
-*.typ
-*.pdf
-
-# Vélarsértækar skrár sem PlatformIO býr til sjálft
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-compile_commands.json
+scripts
+*.typ

.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

@@ -1,40 +0,0 @@
-@startuml
-' skinparam linetype ortho
-' skinparam nodesep 100
-skinparam ranksep 80
-
-skinparam state {
-    BackgroundColor LightBlue
-}
-
-[*] --> Initialization
-
-state Initialization 
-    Initialization : Entry / Stop motor
-    Initialization : Do / Initialize internal parameters
-    Initialization : Do / Reset speed measurement
-    Initialization : Do / Wait 2 seconds
-    Initialization : Exit / Send Boot-up message
-
-
-
-state Operational 
-    Operational : Entry / LED on
-    Operational : Do / Run speed controller
-    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

@@ -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 = 2000UL;
-
-    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

@@ -1,94 +0,0 @@
-#ifndef MOTOR_CONTROLLER_H
-#define MOTOR_CONTROLLER_H
-
-#include "rotary_encoder_driver.h"
-#include "motor_driver.h"
-//#include "p_controller.h"
-//#include "pi_controller.h"
-#include "controller.h"
-#include "digital_out.h"
-
-class State;
-
-
-class MotorController
-{
-private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
-    static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
-    static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
-
-    State* current_state;
-
-    State& initialization_state;
-    State& operational_state;
-    State& stopped_state;
-
-    RotaryEncoderDriver& encoder;
-    MotorDriver& motor;
-    //P_controller& controller;
-    //PI_controller& controller;
-    Controller& controller;
-
-    Digital_out led;
-
-    double reference_rpm;
-
-
-public:
-    MotorController(
-        RotaryEncoderDriver& encoder,
-        MotorDriver& motor,
-        //P_controller& controller,
-        Controller& controller,
-        State& initialization,
-        State& operational,
-        State& stopped
-    );
-
-
-    // void set_states(
-    //     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();
-
-
-    void run_speed_controller();
-
-    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

@@ -1,19 +0,0 @@
-#ifndef OPERATIONAL_STATE_H
-#define OPERATIONAL_STATE_H
-
-#include "state.h"
-
-
-class OperationalState : public State
-{
-public:
-    void enter() override;
-
-    void update() override;
-
-    void command(char c) override;
-
-    void exit() override;
-};
-
-#endif

include/p_controller.h

@@ -1,9 +1,7 @@
 #ifndef P_CONTROLLER_H
 #define P_CONTROLLER_H
 
-#include "controller.h"
-
-class P_controller : public Controller
+class P_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/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 constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
-    static constexpr float COUNTS_PER_REV = 1050.0f;
+    static const uint8_t HIST_LEN = 4;   // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning
 
-private:
-    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning
-
-    volatile int32_t count;
-    volatile int16_t delta;
+    volatile uint8_t cycle;
+    volatile int16_t count;
+    volatile int16_t prev_count;
     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();
-
-    int32_t position();
-
+    int 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

@@ -13,6 +13,4 @@ platform = atmelavr
 board = nanoatmega328new
 framework = arduino
 
-monitor_speed = 115200
-test_framework = unity
-test_build_src = yes
+monitor_speed = 115200

scripts/plot_step_response.py

@@ -1,91 +0,0 @@
-#!/usr/bin/env python3
-"""
-Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
-(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
-
-pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
-pwm_actual    = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
-                var sent a motor.set() / vélbúnaðinn
-
-Notkun:
-    python plot_step_response.py [inntak.csv] [uttak.png] [titill]
-
-Sjalfgefid: data/step_response.csv -> data/step_response.png
-"""
-import sys
-import csv
-import matplotlib.pyplot as plt
-
-
-def load_csv(path):
-    cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
-            "pwm_requested": [], "pwm_actual": []}
-    with open(path, newline="") as f:
-        reader = csv.DictReader(f)
-        for row in reader:
-            try:
-                for key in cols:
-                    cols[key].append(float(row[key]))
-            except (ValueError, KeyError):
-                # sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
-                for key in cols:
-                    if len(cols[key]) > len(cols["time_ms"]):
-                        cols[key].pop()
-                continue
-    return cols
-
-
-def plot(cols, out_path, title_suffix=""):
-    time_s = [t / 1000.0 for t in cols["time_ms"]]
-    ref_rpm = cols["ref_rpm"]
-    actual_rpm = cols["actual_rpm"]
-    pwm_requested = cols["pwm_requested"]
-    pwm_actual = cols["pwm_actual"]
-
-    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)
-
-    ax2 = ax1.twinx()
-    ax2.plot(time_s, pwm_requested, label="PWM requested (unclamped)",
-              color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
-    ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
-              color="#d62728", linewidth=1.4)
-    ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
-    ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
-    ax2.set_ylabel("PWM [-255, 255]")
-
-    # Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
-    step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
-    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")
-
-    lines1, labels1 = ax1.get_legend_handles_labels()
-    lines2, labels2 = ax2.get_legend_handles_labels()
-    ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
-               fontsize=8)
-
-    title = "Double step response: RPM and PWM 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__":
-    in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
-    out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.png"
-    title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
-    data = load_csv(in_path)
-    plot(data, out_path, title_suffix)

src/initialization_state.cpp

@@ -1,43 +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();
-
-    context->reset_controller();
-
-    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 @@
+#include <avr/io.h>
+#include <util/delay.h>
 #include <Arduino.h>
 #include <avr/interrupt.h>
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-//#include "p_controller.h"
-#include "pi_controller.h"
+#include "p_controller.h"
 
-#include "motor_controller.h"
+// RotaryEncoderDriver encoder;
+// MotorDriver motor;
 
-#include "initialization_state.h"
-#include "operational_state.h"
-#include "stopped_state.h"
+// P_controller controller(12.5);
 
+// 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 = 12.5;
+unsigned long state_entry_time;
 
-//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(
-    encoder,
-    motor,
-    controller,
-    initialization_state,
-    operational_state,
-    stopped_state
-);
-
-
-int main()
+unsigned long time_in_state()
 {
-    init();
-
-    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;
+  return millis() - state_entry_time;
 }
 
-// int main(){
-//     return 0;
-// }
+int main() {
+    init();
+    Serial.begin(115200);
+    // 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

@@ -1,152 +0,0 @@
-#include "motor_controller.h"
-#include "state.h"
-
-#include <Arduino.h>
-
-
-MotorController::MotorController(
-    RotaryEncoderDriver& encoder,
-    MotorDriver& motor,
-    //P_controller& controller,
-    //PI_controller& controller;
-    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->set_context(this);
-
-    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);
-}
-
-
-void MotorController::run_speed_controller()
-{
-    if (encoder.new_speed_available())
-    {
-        double actual = encoder.rpm();
-
-        double pwm_percent =
-            controller.update(reference_rpm, actual);
-
-        double pwm =
-            pwm_percent * PWM_PER_PERCENT;
-
-        motor.set(pwm);
-    }
-}
-
-
-void MotorController::stop_motor()
-{
-    motor.stop();
-}
-
-
-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()
-{
-   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
-    stop();
+    OCR2A = 0;
+    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 (duty == 0)
-    {
-        stop();
-    }
-    else if (pwm > 0)
+    if (pwm > 0)
     {
         // Forward
-        ain2_off();
-        ain1_pwm(duty);
+        OCR2A = 0;
+        OCR2B = (uint8_t)pwm;
+    }
+    else if (pwm < 0)
+    {
+        // Reverse
+        OCR2B = 0;
+        OCR2A = (uint8_t)(-pwm);
     }
     else
     {
-        // Reverse
-        ain1_off();
-        ain2_pwm(duty);
+        stop();
     }
-}
-
-
-bool MotorDriver::fault_active()
-{
-    return !(PIND & (1 << PIND4));
-}
+}

src/operational_state.cpp

@@ -1,54 +0,0 @@
-#include "operational_state.h"
-#include "motor_controller.h"
-
-#include <Arduino.h>
-
-
-void OperationalState::enter()
-{
-    Serial.println("State: Operational");
-
-    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();
-}
-
-
-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

@@ -1,57 +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/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)
-    , delta(0)
+    : cycle(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()
-{
-
-    int32_t oldest = history[hist_idx];
+void RotaryEncoderDriver::update_delta() {
 
+    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)
-{
-    driver->update_delta();
+ISR(TIMER1_COMPA_vect) {
+    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

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