Lagað sameinaða kóða eftir merge. Muna fokkin kommur!!

docs/diagrams/src/motor_state.wsd

@@ -10,18 +10,31 @@ skinparam state {
 [*] --> Initialization
 
 state Initialization 
-    Initialization : Entry / Stop motor 
+    Initialization : Entry / Stop motor
-    Initialization : Entry / Initialize internal parameters
+    Initialization : Do / Initialize internal parameters
-    Initialization : Entry / Reset speed measurement
+    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/motor_controller.h

@@ -20,6 +20,7 @@ private:
 
     State& initialization_state;
     State& operational_state;
+    State& stopped_state;
 
     RotaryEncoderDriver& encoder;
     MotorDriver& motor;
@@ -36,10 +37,18 @@ public:
         MotorDriver& motor,
         P_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 +62,10 @@ public:
 
     void to_operational();
 
+    void to_stopped();
+
+    bool fault_active();
+
 
     void run_speed_controller();
 

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/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

src/main.cpp

@@ -9,6 +9,7 @@
 
 #include "initialization_state.h"
 #include "operational_state.h"
+#include "stopped_state.h"
 
 
 RotaryEncoderDriver encoder;
@@ -24,6 +25,7 @@ InitializationState initialization_state;
 
 OperationalState operational_state;
 
+StoppedState stopped_state;
 
 // Stöðurnar verða að vera skilgreindar á undan motor_controller
 MotorController motor_controller(
@@ -31,7 +33,8 @@ MotorController motor_controller(
     motor,
     controller,
     initialization_state,
-    operational_state
+    operational_state,
+    stopped_state
 );
 
 
@@ -51,6 +54,13 @@ int main()
     sei();
 
 
+    // motor_controller.set_states(
+    //     &initialization_state,
+    //     &operational_state,
+    //     &stopped_state
+    // );
+
+
     motor_controller.begin();
 
 

src/motor_controller.cpp

@@ -9,11 +9,13 @@ MotorController::MotorController(
     MotorDriver& motor,
     P_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 +24,22 @@ 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();
@@ -105,14 +120,23 @@ 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::led_on()
 {
-    led.set_hi();
+   led.set_hi();
 }
 
 
 void MotorController::led_off()
 {
-    led.set_lo();
+   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/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);
+}