Leggja lokahönd á verkefnið og plot-a fleiri myndir

Bætti við input fyrir p í stopped fyrir fault og samhliða uppfærði UML fyrir það
Uppfærður kóði sem tekur á móti input fyrir Kp og Ti, ásamt því að uppfæra UML diagram
2026-10-03 20:31:07 +00:00 · 2026-10-01 13:43:51 +00:00 · 2026-10-01 13:38:28 +00:00 · 2026-10-01 12:55:11 +00:00 · 2026-10-01 10:58:06 +00:00 · 2026-10-01 09:47:04 +00:00
29 changed files with 1366 additions and 657 deletions
@@ -1,6 +1,13 @@
 .pio
 venv
-*.py
+__pycache__
 *.csv
+*.typ
+*.pdf
 scripts
-*.typ
+*.bak
+
+# Vélarsértækar skrár sem PlatformIO býr til sjálft
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+compile_commands.json
@@ -1,56 +0,0 @@
-//
-// !!! 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
-}
@@ -1,44 +0,0 @@
-// 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"
-        }
-    ]
-}
@@ -1,200 +0,0 @@
-[
-    {
-        "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",
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-        "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"
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-        "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"
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-    {
-        "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"
-    }
-]
@@ -0,0 +1,50 @@
+@startuml
+' skinparam linetype ortho
+' skinparam nodesep 100
+skinparam ranksep 80
+
+skinparam state {
+    BackgroundColor LightBlue
+}
+
+[*] --> Initialization
+
+state Initialization 
+    Initialization : Entry / Stop motor 
+    Initialization : Entry / Initialize internal parameters
+    Initialization : Entry / Reset speed measurement
+    Initialization : Do / Wait 2 seconds
+    Initialization : Exit / Send Boot-up message
+
+state PreOperational
+    PreOperational : Entry / Stop motor
+    PreOperational : Do / Blink LED at 1 Hz
+    PreOperational : Do / Accept Kp and Ti configuration
+    PreOperational : Do / Select P or PI controller [c]
+    PreOperational : Exit / LED off
+
+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 -r-> PreOperational : initialization\n complete
+' Initialization -d-> Operational : initialization\n complete
+
+PreOperational -d-> Operational : set operational [o]
+PreOperational -l--> Initialization : reset [r]
+
+Operational -u-> PreOperational : set pre-operational [p]
+Operational -> Initialization : reset [r]
+Operational --> Stopped : fault detected
+
+Stopped -l-> Initialization : reset [r]
+Stopped -> Operational : set operational [o]
+Stopped -u-> PreOperational : set pre-operational [p]
+
+@enduml
@@ -0,0 +1,24 @@
+#ifndef INITIALIZATION_STATE_H
+#define INITIALIZATION_STATE_H
+
+#include "state.h"
+
+
+class InitializationState : public State
+{
+private:
+    static const unsigned long WAIT_MS = 2000;
+
+    unsigned long enter_time_ms = 0;
+
+public:
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+};
+
+#endif
@@ -0,0 +1,95 @@
+#ifndef MOTOR_CONTROLLER_H
+#define MOTOR_CONTROLLER_H
+
+#include "rotary_encoder_driver.h"
+#include "motor_driver.h"
+#include "p_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& pre_operational_state;
+    State& operational_state;
+    State& stopped_state;
+
+    RotaryEncoderDriver& encoder;
+    MotorDriver& motor;
+    P_controller* controller;
+
+    Digital_out led;
+
+    double reference_rpm;
+
+    // Síðasta sýni, notað fyrir CSV-útprentun
+    double last_actual_rpm;
+    double last_pwm;
+
+
+public:
+    MotorController(
+        RotaryEncoderDriver& encoder,
+        MotorDriver& motor,
+        P_controller& controller,
+        State& initialization,
+        State& pre_operational,
+        State& operational,
+        State& stopped
+    );
+
+
+    void begin();
+
+    void update();
+
+    void command(char c);
+
+    void transition_to(State& new_state);
+
+
+    void to_initialization();
+
+    void to_pre_operational();
+
+    void to_operational();
+
+    void to_stopped();
+
+    bool fault_active();
+
+
+    // Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
+    bool run_speed_controller();
+
+    double get_reference_rpm() const { return reference_rpm; }
+    double get_actual_rpm() const { return last_actual_rpm; }
+    double get_pwm() const { return last_pwm; }
+
+    void stop_motor();
+
+    void reset_speed_measurement();
+
+    void reset_controller();
+
+    void set_Kp(double value);
+
+    void set_Ti(double value);
+
+    void set_controller(P_controller& new_controller);
+
+    void led_on();
+
+    void led_off();
+};
+
+#endif
@@ -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
@@ -0,0 +1,29 @@
+#ifndef OPERATIONAL_STATE_H
+#define OPERATIONAL_STATE_H
+
+#include "state.h"
+#include <stdint.h>
+
+// Sett á 1 til að prenta CSV (time_ms,ref_rpm,actual_rpm,pwm) í Operational,
+// t.d. fyrir step og load response. Einnig hægt með build_flags = -D LOG_CSV=1
+#ifndef LOG_CSV
+#define LOG_CSV 0
+#endif
+
+
+class OperationalState : public State
+{
+private:
+    uint32_t sample_count = 0;
+
+public:
+    void enter() override;
+
+    void update() override;
+
+    void command(char c) override;
+
+    void exit() override;
+};
+
+#endif
@@ -3,13 +3,24 @@

 class P_controller
 {
-private:
+protected:
    double Kp;

 public:
    P_controller(double Kp);
+    virtual ~P_controller() {}
+    virtual double update(double ref, double actual);
+    virtual void reset() {}

-    double update(double ref, double actual);
+    virtual void set_Kp(double value)
+    {
+        Kp = value;
+    }
+
+    virtual void set_Ti(double value)
+    {
+        // P controller does not use Ti
+    }
 };

-#endif
+#endif
@@ -0,0 +1,23 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+#include "p_controller.h"
+
+class PI_controller : public P_controller
+{
+    private:
+        static constexpr double U_MAX = 100.0;  // %
+        static constexpr double U_MIN = -100.0; // %
+
+        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;
+
+        void set_Ti(double value) override;
+};
+
+#endif
@@ -0,0 +1,43 @@
+#ifndef PRE_OPERATIONAL_STATE_H
+#define PRE_OPERATIONAL_STATE_H
+
+#include "state.h"
+#include "stdint.h"
+
+class P_controller;
+
+class PreOperationalState : public State
+{
+private:
+    P_controller& p_controller;
+    P_controller& pi_controller;
+    bool pi_selected;
+
+    unsigned long previous_time;
+    bool led_state;
+
+    //bool waiting_for_kp;
+    //bool waiting_for_ti;
+
+    enum InputMode
+    {
+        NONE,
+        ENTER_KP,
+        ENTER_TI
+    };
+
+    InputMode input_mode;
+
+    char input_buffer[16];
+    uint8_t input_index;
+
+public:
+    PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+
+    void enter() override;
+    void update() override;
+    void command(char c) override;
+    void exit() override;
+};
+
+#endif
@@ -4,39 +4,45 @@
 #include <stdint.h>

 #include "digital_in.h"
-#include "digital_out.h"
 #include "timer_usec.h"

 class RotaryEncoderDriver {
-    static const uint8_t HIST_LEN = 4;   // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning
+public:
+    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
+    static constexpr float COUNTS_PER_REV = 1050.0f;

-    volatile uint8_t cycle;
-    volatile int16_t count;
-    volatile int16_t prev_count;
+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 bool speed_ready;

-    volatile int16_t history[HIST_LEN];
+    volatile int32_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();
-    int position(); 
+
+    int32_t position();
+
    void update_delta();
+
    float count_per_sec();
+
    float rpm();

    bool new_speed_available();
+
    void reset_speed_measurement();

 };
@@ -0,0 +1,32 @@
+#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
@@ -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
@@ -13,4 +13,9 @@ platform = atmelavr
 board = nanoatmega328new
 framework = arduino

-monitor_speed = 115200
+monitor_speed = 115200
+test_framework = unity
+test_build_src = yes
+
+; CSV-útprentun í Operational fyrir step/load response (sjá capture_serial.py)
+; build_flags = -D LOG_CSV=1
@@ -0,0 +1,91 @@
+#!/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)
@@ -0,0 +1,41 @@
+#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();
+
+    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_pre_operational();
+        // context->to_operational();
+    }
+}
+
+
+void InitializationState::command(char c)
+{
+}
+
+
+void InitializationState::exit()
+{
+    Serial.println("Boot-up");
+}
@@ -1,166 +1,84 @@
-#include <avr/io.h>
-#include <util/delay.h>
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+#ifndef PIO_UNIT_TESTING
+
 #include <Arduino.h>
 #include <avr/interrupt.h>

 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+#include "pi_controller.h"

-// RotaryEncoderDriver encoder;
-// MotorDriver motor;
+#include "motor_controller.h"

-// P_controller controller(12.5);
+#include "initialization_state.h"

-// const double REF_RPM1 = 30.0;
-// const double REF_RPM2 = 50.0;
+#include "pre_operational_state.h"

-// const uint16_t STEP1_AT_SAMPLE = 50; 
-// const uint16_t STEP2_AT_SAMPLE = 500;
+#include "operational_state.h"
+#include "stopped_state.h"

-// const uint16_t STOP_AT_SAMPLE = 1000;  

-unsigned long state_entry_time;
+RotaryEncoderDriver encoder;

-unsigned long time_in_state()
+MotorDriver motor;
+
+const double Kp_P = 10.0;     // P-controller from Project 2
+
+const double Kp = 10.125;     // Ziegler-Nichols PI
+const double Ti = 0.0334;
+const double T = 0.004;
+
+P_controller p_controller(Kp_P);
+PI_controller pi_controller(Kp, Ti, T);
+
+
+InitializationState initialization_state;
+// Pre-operational velur á milli stýringanna með 'c'
+PreOperationalState pre_operational_state(p_controller, pi_controller);
+OperationalState operational_state;
+StoppedState stopped_state;
+
+// Stöðurnar verða að vera skilgreindar á undan motor_controller
+MotorController motor_controller(
+    encoder,
+    motor,
+    pi_controller,      // Sjálfgefin stýring
+    initialization_state,
+    pre_operational_state,
+    operational_state,
+    stopped_state
+);
+
+
+int main()
 {
-  return millis() - state_entry_time;
-}
-
-int main() {
    init();
    Serial.begin(115200);
-    // Serial.begin(9600);
+    cli();
+
+    encoder.begin();
+    motor.begin();
+
    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
+    motor_controller.begin();

+    while (true)
+    {
        if (Serial.available() > 0)
        {
-        c = Serial.read();
-        Serial.print("I received: ");
-        Serial.println(c, DEC);
+            char c = Serial.read();
+
+            motor_controller.command(c);   
+
        }

-        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;
+        motor_controller.update();
+    }

-        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;
 }
+
+#endif 
@@ -0,0 +1,191 @@
+#include "motor_controller.h"
+#include "state.h"
+
+#include <Arduino.h>
+
+
+MotorController::MotorController(
+    RotaryEncoderDriver& encoder,
+    MotorDriver& motor,
+    P_controller& controller,
+    State& initialization,
+    State& pre_operational,
+    State& operational,
+    State& stopped
+)
+    : current_state(nullptr),
+      initialization_state(initialization),
+      pre_operational_state(pre_operational),
+      operational_state(operational),
+      stopped_state(stopped),
+      encoder(encoder),
+      motor(motor),
+      controller(&controller),
+      led(LED_PIN),
+      reference_rpm(DEFAULT_REFERENCE_RPM),
+      last_actual_rpm(0.0),
+      last_pwm(0.0)
+{
+    initialization_state.set_context(this);
+    pre_operational_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->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_pre_operational()
+{
+    transition_to(pre_operational_state);
+}
+
+
+void MotorController::to_operational()
+{
+    transition_to(operational_state);
+}
+
+
+bool MotorController::run_speed_controller()
+{
+    if (!encoder.new_speed_available())
+    {
+        return false;
+    }
+
+    double actual = encoder.rpm();
+
+    double pwm_percent =
+        controller->update(reference_rpm, actual);
+
+    double pwm =
+        pwm_percent * PWM_PER_PERCENT;
+
+    // Klippt hér svo last_pwm sé nákvæmlega það sem fer á mótorinn
+    if (pwm > 255.0)
+    {
+        pwm = 255.0;
+    }
+    else if (pwm < -255.0)
+    {
+        pwm = -255.0;
+    }
+
+    motor.set(pwm);
+
+    last_actual_rpm = actual;
+    last_pwm = pwm;
+
+    return true;
+}
+
+
+void MotorController::stop_motor()
+{
+    motor.stop();
+}
+
+
+void MotorController::reset_speed_measurement()
+{
+    encoder.reset_speed_measurement();
+}
+
+void MotorController::reset_controller()
+{
+    controller->reset();
+}
+
+void MotorController::set_Kp(double value)
+{
+    controller->set_Kp(value);
+}
+
+void MotorController::set_Ti(double value)
+{
+    controller->set_Ti(value);
+}
+
+void MotorController::set_controller(P_controller& new_controller)
+{
+    controller = &new_controller;
+
+    controller->reset();
+}
+
+void MotorController::to_stopped()
+{
+    transition_to(stopped_state);
+}
+
+bool MotorController::fault_active()
+{
+    return motor.fault_active();
+}
+
+void MotorController::led_on()
+{
+   led.set_hi();
+}
+
+
+void MotorController::led_off()
+{
+   led.set_lo();
+}
@@ -3,6 +3,37 @@
 #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()
 {
 }
@@ -12,10 +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;
@@ -24,57 +61,32 @@ 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);

-    OCR2A = 0;
-    OCR2B = 0;
-
-    //stop();
+    // PWM-úttök eru tengd í set() eftir þörfum
+    stop();
 }


 void MotorDriver::forward()
 {
-    // AIN1 / D3  = HIGH
-    // AIN2 / D11 = LOW
-
-    //PORTD |= (1 << PORTD3);
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 255;
+    set(255.0);
 }


 void MotorDriver::reverse()
 {
-    // AIN1 / D3  = LOW
-    // AIN2 / D11 = HIGH
-
-    //PORTD &= ~(1 << PORTD3);
-    //PORTB |= (1 << PORTB3);
-
-    OCR2B = 0;
-    OCR2A = 255;
+    set(-255.0);
 }


 void MotorDriver::stop()
 {
    // Both LOW
-
-    //PORTD &= ~(1 << PORTD3);
-    //PORTB &= ~(1 << PORTB3);
-
-    OCR2A = 0;
-    OCR2B = 0;
+    ain1_off();
+    ain2_off();
 }

 void MotorDriver::set(double pwm)
@@ -91,20 +103,28 @@ void MotorDriver::set(double pwm)
    }


-    if (pwm > 0)
-    {
-        // Forward
-        OCR2A = 0;
-        OCR2B = (uint8_t)pwm;
-    }
-    else if (pwm < 0)
-    {
-        // Reverse
-        OCR2B = 0;
-        OCR2A = (uint8_t)(-pwm);
-    }
-    else
+    uint8_t duty = (uint8_t)(pwm > 0 ? pwm : -pwm);
+
+    if (duty == 0)
    {
        stop();
    }
-}
+    else if (pwm > 0)
+    {
+        // Forward
+        ain2_off();
+        ain1_pwm(duty);
+    }
+    else
+    {
+        // Reverse
+        ain1_off();
+        ain2_pwm(duty);
+    }
+}
+
+
+bool MotorDriver::fault_active()
+{
+    return !(PIND & (1 << PIND4));
+}
@@ -0,0 +1,83 @@
+#include "operational_state.h"
+#include "motor_controller.h"
+
+#include <Arduino.h>
+
+
+void OperationalState::enter()
+{
+    Serial.println("State: Operational");
+
+    context->reset_controller();
+
+    context->led_on();
+
+    sample_count = 0;
+
+#if LOG_CSV
+    Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+#endif
+}
+
+// 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;
+    }
+
+    if (context->run_speed_controller())
+    {
+        sample_count++;
+
+#if LOG_CSV
+        // 4 ms á milli sýna, tíminn byrjar á 0 við hverja innkomu í Operational
+        Serial.print(sample_count * 4UL);
+        Serial.print(',');
+        Serial.print(context->get_reference_rpm(), 1);
+        Serial.print(',');
+        Serial.print(context->get_actual_rpm(), 2);
+        Serial.print(',');
+        Serial.println(context->get_pwm(), 1);
+#endif
+    }
+}
+
+
+void OperationalState::command(char c)
+{
+    if (c == 'r' || c == 'R')
+    {
+        Serial.println("Command: reset");
+
+        context->to_initialization();
+    }
+
+    else if (c == 'p' || c == 'P')
+    {
+        Serial.println("Command: set pre-operational");
+
+        context->to_pre_operational();
+    }
+}
+
+
+void OperationalState::exit()
+{
+    context->stop_motor();
+
+    context->led_off();
+}
@@ -0,0 +1,37 @@
+#include "pi_controller.h"
+
+PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+{
+}
+
+double PI_controller::update(double ref, double actual)
+{
+    double e = ref - actual;
+    double new_integral = integral + e * T;
+    double u = Kp * (e + new_integral / Ti);
+
+    if (u > U_MAX)
+    {
+        u = U_MAX;
+    }
+    else if (u < U_MIN)
+    {
+        u = U_MIN;
+    }
+    else
+    {
+        integral = new_integral;
+    }
+    return u;
+    // return 0.0;
+}
+
+void PI_controller::reset()
+{
+    integral = 0.0;
+}
+
+void PI_controller::set_Ti(double value)
+{
+    Ti = value;
+}
@@ -0,0 +1,161 @@
+#include "pre_operational_state.h"
+#include "motor_controller.h"
+
+#include <Arduino.h>
+#include <stdlib.h>
+
+PreOperationalState::PreOperationalState(P_controller& p_controller, P_controller& pi_controller)
+    : p_controller(p_controller),
+      pi_controller(pi_controller),
+      pi_selected(true),
+      previous_time(0),
+      led_state(false),
+      //waiting_for_kp(false),
+      //waiting_for_ti(false),
+      input_mode(NONE),
+      input_index(0)
+{
+}
+
+void PreOperationalState::enter()
+{
+    Serial.println("State: Pre-operational");
+
+    context->stop_motor();
+
+    context->led_off();
+
+    led_state = false;
+
+    previous_time = millis();
+}
+
+void PreOperationalState::update()
+{
+    unsigned long current_time = millis();
+
+    if (current_time - previous_time >= 500)
+    {
+        previous_time = current_time;
+
+        led_state = !led_state;
+
+        if (led_state)
+        {
+            context->led_on();
+        }
+        else
+        {
+            context->led_off();
+        }
+    }
+}
+
+void PreOperationalState::command(char c)
+{
+    // We are currently entering a Kp or Ti value
+    if (input_mode != NONE)
+    {
+        // Enter pressed
+        if (c == '\n' || c == '\r')
+        {
+            if (input_index > 0)
+            {
+                // End the string
+                input_buffer[input_index] = '\0';
+
+                // Convert text to a number
+                double value = atof(input_buffer);
+
+                if (input_mode == ENTER_KP)
+                {
+                    context->set_Kp(value);
+
+                    Serial.print("Kp set to: ");
+                    Serial.println(value);
+                }
+                else if (input_mode == ENTER_TI)
+                {
+                    context->set_Ti(value);
+
+                    Serial.print("Ti set to: ");
+                    Serial.println(value);
+                }
+            }
+
+            // Finished entering a value
+            input_index = 0;
+            input_mode = NONE;
+
+            return;
+        }
+
+        // Store number characters
+        if ((c >= '0' && c <= '9') ||
+            c == '.' ||
+            c == '-')
+        {
+            if (input_index < sizeof(input_buffer) - 1)
+            {
+                input_buffer[input_index] = c;
+                input_index++;
+            }
+        }
+
+        return;
+    }
+
+
+    // Normal state commands
+    if (c == 'o' || c == 'O')
+    {
+        Serial.println("Command: set operational");
+
+        context->to_operational();
+    }
+
+    else if (c == 'r' || c == 'R')
+    {
+        Serial.println("Command: reset");
+
+        context->to_initialization();
+    }
+
+    else if (c == 'k' || c == 'K')
+    {
+        input_mode = ENTER_KP;
+        input_index = 0;
+
+        Serial.println("Enter Kp and press Enter:");
+    }
+
+    else if (c == 't' || c == 'T')
+    {
+        input_mode = ENTER_TI;
+        input_index = 0;
+
+        Serial.println("Enter Ti and press Enter:");
+    }
+
+    // Select controller algorithm, the controller is passed to the motor controller
+    else if (c == 'c' || c == 'C')
+    {
+        pi_selected = !pi_selected;
+
+        if (pi_selected)
+        {
+            context->set_controller(pi_controller);
+            Serial.println("Controller: PI");
+        }
+        else
+        {
+            context->set_controller(p_controller);
+            Serial.println("Controller: P");
+        }
+    }
+}
+
+void PreOperationalState::exit()
+{
+    context->led_off();
+}
@@ -1,73 +1,71 @@
 #include "rotary_encoder_driver.h"
 #include <avr/interrupt.h>

-RotaryEncoderDriver* driver = nullptr;
+static RotaryEncoderDriver* driver = nullptr;

 RotaryEncoderDriver::RotaryEncoderDriver()
-    : cycle(0)
-    , count(0)
-    , prev_count(0)
+    : count(0)
+    , delta(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(4000);
+    timer.init(SAMPLE_PERIOD_US);
 }

-void RotaryEncoderDriver::update() {
+void RotaryEncoderDriver::update()
+{
    count += eB.is_hi() ? 1 : -1;
-    led.set_hi();
 }

-int RotaryEncoderDriver::position() {
+int32_t RotaryEncoderDriver::position()
+{

    uint8_t oldSREG = SREG;

    cli();

-    int16_t local_count = count;
+    int32_t local_count = count;

    SREG = oldSREG;

-    led.set_lo();
-
    return local_count;
-} 
-
-void RotaryEncoderDriver::update_delta() {
-
-    int16_t oldest = history[hist_idx];
-    history[hist_idx] = count;
-    hist_idx = (hist_idx + 1) % HIST_LEN;
-
-    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() {
+void RotaryEncoderDriver::update_delta()
+{
+
+    int32_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
+
+    speed_ready = true;
+}
+
+float RotaryEncoderDriver::count_per_sec()
+{

    uint8_t oldSREG = SREG;

@@ -77,14 +75,12 @@ float RotaryEncoderDriver::count_per_sec() {

    SREG = oldSREG;

-    return local_delta / (HIST_LEN * 0.004f);
+    return local_delta / (HIST_LEN * SAMPLE_PERIOD_US * 1e-6f);
 }


 float RotaryEncoderDriver::rpm()
 {
-    const float COUNTS_PER_REV = 1050.0f;
-
    return count_per_sec() * 60.0f / COUNTS_PER_REV;
 }

@@ -113,24 +109,24 @@ 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();
 }
-
-
@@ -1,61 +0,0 @@
-/* #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();    
-}
-
- */
@@ -0,0 +1,81 @@
+#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;
+
+    context->led_off();
+
+    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;
+
+        if (led_state)
+        {
+            context->led_on();
+        }
+        else
+        {
+            context->led_off();
+        }
+    }
+}
+
+
+// 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();
+    }
+
+    else if (c == 'p' || c == 'P')
+    {
+        Serial.println("Command: set pre-operational");
+
+        context->to_pre_operational();
+    }
+}
+
+
+void StoppedState::exit()
+{
+    context->led_off();
+}
@@ -1,53 +0,0 @@
-/* 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);
-    }
-}
-*/
@@ -0,0 +1,150 @@
+#include <unity.h>
+
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
+#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double TI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
+
+// void setUp(void) {}
+// void tearDown(void) {}
+
+// Normal flow: engin villa -> ekkert úttak
+void test_zero_error_gives_zero_output(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+}
+
+// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
+void test_first_step(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
+void test_integral_accumulates(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    double u = 0.0;
+    for (int n = 1; n <= 5; n++)
+    {
+        u = c.update(e, 0.0);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+    }
+}
+
+// Normal flow: þegar villan er orðin 0 heldur integralið úttakinu uppi
+void test_output_held_when_error_zero(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(e, 0.0);
+    }
+    double E = 5 * e * T;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+}
+
+// Alt flow: villa langt utan getu -> mettun í +100 %
+void test_saturates_high(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+}
+
+// Alt flow: mettun í -100 %
+void test_saturates_low(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+}
+
+// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
+// strax að gefa úttak undir mettun (integralið óx ekki)
+void test_no_integral_windup(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 1000; n++)
+    {
+        c.update(10000.0, 0.0);
+    }
+    double u = c.update(0.0, 1.0);  // e = -1
+    TEST_ASSERT_TRUE(u < 0.0);
+}
+
+// Alt flow: reset (stopped -> operational) hreinsar integralið
+void test_reset_clears_integral(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(5.0, 0.0);
+    }
+    c.reset();
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+}
+
+// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
+void test_polymorphic_update(void)
+{
+    PI_controller pi(KP, TI, T);
+    P_controller& c = pi;
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// P_controller hegðar sér óbreytt
+void test_p_controller_unchanged(void)
+{
+    P_controller c(KP);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+}
+
+void setup()
+{
+    // init();
+    delay(2000);
+    UNITY_BEGIN();
+    RUN_TEST(test_zero_error_gives_zero_output);
+    RUN_TEST(test_first_step);
+    RUN_TEST(test_integral_accumulates);
+    RUN_TEST(test_output_held_when_error_zero);
+    RUN_TEST(test_saturates_high);
+    RUN_TEST(test_saturates_low);
+    RUN_TEST(test_no_integral_windup);
+    RUN_TEST(test_reset_clears_integral);
+    RUN_TEST(test_polymorphic_update);
+    RUN_TEST(test_p_controller_unchanged);
+    // return UNITY_END();
+    UNITY_END();
+}
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif
Author	SHA1	Message	Date
helgie22	93378fd928	Leggja lokahönd á verkefnið og plot-a fleiri myndir	2026-10-03 20:31:07 +00:00
isakg22	c5616870eb	Bætti við input fyrir p í stopped fyrir fault og samhliða uppfærði UML fyrir það	2026-10-01 13:43:51 +00:00
isakg22	eb402d5da5	Uppfærður kóði sem tekur á móti input fyrir Kp og Ti, ásamt því að uppfæra UML diagram	2026-10-01 13:38:28 +00:00
isakg22	a5c2da8bae	Nýtt branch og kóðar plús breytingar á fyrri kóðum fyrir part 4	2026-10-01 12:55:11 +00:00
helgie22	bf389cd012	Framkvæmdi test á hegðun PI_controller	2026-10-01 10:58:06 +00:00
helgie22	11df24f592	Bætti við test-um, pi controller með polymorphism og bætti við virkni í operational mode	2026-10-01 09:47:04 +00:00
helgie22	6c38a1db37	Lagað: git merge vesen	2026-09-30 13:55:23 +00:00
helgie22	9607a26f8f	Er í miklu veseni með git en held ég sé búinn að redda þessu, nýjasta útgáfa af part2	2026-09-30 13:54:05 +00:00
helgie22	1d93605cc3	Merging main with Isak_part2 branch	2026-09-30 13:38:27 +00:00
helgie22	be4cf10d7e	UML diagram changed	2026-09-30 13:29:43 +00:00
isakg22	3c5cedc413	Lagað sameinaða kóða eftir merge. Muna fokkin kommur!!	2026-09-30 13:18:03 +00:00
isakg22	fa30d35401	Merge branch 'main' of ssh://gitea.cs.ru.is:2222/helgie22/ESP_Project3_H26 into Isak_part2	2026-09-30 12:21:01 +00:00
isakg22	484686f8d1	Stop bætt inn í UML diagram	2026-09-30 11:59:05 +00:00
helgie22	1e02205344	Encoder fyrir position í int32, stöðuvél án null-pointera, nefndir fastar, LED gegnum context	2026-09-30 11:55:41 +00:00
isakg22	d96da75bdf	Part 2 nýjir kóðar, fyrir STOP og Fault kerfi	2026-09-30 11:52:06 +00:00
helgie22	c46539a57b	Initialization bíður 2 s, mótor stöðvast alveg, hreinsun - InitializationState: 2 s bið með millis() án þess að blokka, Boot-up sent í exit() - MotorDriver: PWM-pinnar aftengdir frá Timer2 þegar þeir eiga að vera LOW (OCR=0 í Fast PWM gaf samt stuttan púls) - Eytt útkommentuðum skrám: main_P2, temporary_main, rotary_encoder_driver_unused - .gitignore: plot-skriftan fer í git, vélarsértækar PlatformIO-skrár út	2026-09-30 11:49:51 +00:00
isakg22	7ca9c51268	fjarlæfði LED úr rotary_encoder	2026-09-28 10:35:30 +00:00
isakg22	52f0d2052a	Breytt í main system --> motor_controller	2026-09-28 10:33:27 +00:00
isakg22	937ca7df1b	Nýtt diagram og lagað pio drasl	2026-09-24 12:06:40 +00:00
isakg22	5c68fb7722	Lagaði initialization steit	2026-09-24 11:35:02 +00:00
isakg22	ca41322d52	meira nýtt	2026-09-24 11:27:56 +00:00
isakg22	00c251b26d	Nýtt branch og kóðar/files fyrir part 1	2026-09-24 11:20:26 +00:00