undirbúningur falla fyrir can samskipti og prófun með lyklaborði

include/initialization_state.h

@@ -19,9 +19,11 @@ public:
 
     void update() override;
 
-    void command(char c) override;
+    // void command(char c) override;
 
     void exit() override;
+
+    NodeState id() const override { return NodeState::INITIALIZATION; }
 };
 
 #endif

include/motor_controller.h

@@ -7,14 +7,15 @@
 #include "motor_driver.h"
 #include "p_controller.h"
 #include "digital_out.h"
+#include "node_types.h"
+#include "node_application.h"
 
 class State;
 
-
-class MotorController
+class MotorController : public NodeApplication
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
+    static constexpr double DEFAULT_TARGET_RPM = 0.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
     static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
@@ -27,22 +28,32 @@ private:
 
     RotaryEncoderDriver &encoder;
     MotorDriver &motor;
-    P_controller *controller;
+
+    P_controller &p_controller;
+    P_controller &pi_controller;
+    P_controller *controller;   // Bendir á p_controller eða pi_controller
 
     Digital_out led;
 
-    double reference_rpm;
+    double target_rpm;  // Það sem beðið er um (RPDO1)
+    double reference_rpm;   // Það sem stýringin fær
+
+    uint32_t profile_acceleration; // RPM/s
+    uint32_t profile_deceleration;
 
     // Síðasta sýni, notað fyrir CSV-útprentun
     double last_actual_rpm;
     double last_pwm;
 
 
+
+
 public:
     MotorController(
         RotaryEncoderDriver &encoder,
         MotorDriver &motor,
-        P_controller &controller,
+        P_controller &p_controller,
+        P_controller &pi_controller,
         State &initialization,
         State &pre_operational,
         State &operational,
@@ -59,13 +70,15 @@ public:
     void transition_to(State &new_state);
 
 
-    void to_initialization();
+    void to_initialization() override;
 
-    void to_pre_operational();
+    void to_pre_operational() override;
 
-    void to_operational();
+    void to_operational() override;
 
-    void to_stopped();
+    void to_stopped() override;
+
+    NodeState get_state() const override;
 
     bool fault_active();
 
@@ -73,21 +86,34 @@ public:
     // Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
     bool run_speed_controller();
 
+    void set_target_rpm(double rpm) override { target_rpm = rpm; }
+    double get_target_rpm() const override { return target_rpm; }
     double get_reference_rpm() const { return reference_rpm; }
-    double get_actual_rpm() const { return last_actual_rpm; }
+    double get_actual_rpm() const override { return last_actual_rpm; }
+
     double get_pwm() const { return last_pwm; }
+    double get_duty_percent() const override { return last_pwm / PWM_PER_PERCENT; }
+
+    void set_profile_acceleration(uint32_t value) override {profile_acceleration = value; }
+    uint32_t get_profile_acceleration() const override { return profile_acceleration; }
+    void set_profile_deceleration(uint32_t value) override {profile_deceleration = value; }
+    uint32_t get_profile_deceleration() const override { return profile_deceleration; }
 
     void stop_motor();
 
     void reset_speed_measurement();
 
     void reset_controller();
+    void reset_parameters() override;
 
-    void set_Kp(double value);
+    void set_Kp(double value) override;
+    double get_Kp() const override { return controller->get_Kp(); }
 
-    void set_Ti(double value);
+    bool set_Ti(double value) override;
+    double get_Ti() const override { return controller->get_Ti(); }
 
-    void set_controller(P_controller &new_controller);
+    void select_controller(ControllerType type) override;
+    ControllerType get_controller_type() const override;
 
     void led_on();
 

include/node_application.h

@@ -0,0 +1,51 @@
+#ifndef NODE_APPLICATION_H
+#define NODE_APPLICATION_H
+
+#include <stdint.h>
+#include "node_types.h"
+
+class NodeApplication
+{
+public:
+    virtual ~NodeApplication() {}
+
+    // NMT
+    virtual void to_initialization() = 0;
+    virtual void to_pre_operational() = 0;
+    virtual void to_operational() = 0;
+    virtual void to_stopped() = 0;
+    virtual void reset_parameters() = 0;
+    virtual NodeState get_state() const = 0;
+
+    // 0x2000
+    virtual void select_controller(ControllerType type) = 0;
+    virtual ControllerType get_controller_type() const = 0;
+
+    // 0x2001
+    virtual void set_Kp(double value) = 0;
+    virtual double get_Kp() const = 0;
+
+    // 0x2002
+    virtual bool set_Ti(double value) = 0;
+    virtual double get_Ti() const = 0;
+
+    // 0x2010
+    virtual double get_duty_percent() const = 0;
+
+    // 0x606C
+    virtual double get_actual_rpm() const = 0;
+
+    // 0x6083
+    virtual void set_profile_acceleration(uint32_t value) = 0;
+    virtual uint32_t get_profile_acceleration() const = 0;
+    // 0x6084
+    virtual void set_profile_deceleration(uint32_t value) = 0;
+    virtual uint32_t get_profile_deceleration() const = 0;
+
+    // 0x60FF (RPDO1)
+    virtual void set_target_rpm(double value) = 0;
+    virtual double get_target_rpm() const = 0;
+
+};
+
+#endif

include/node_types.h

@@ -0,0 +1,18 @@
+#ifndef NODE_TYPES_H
+#define NODE_TYPES_H
+
+enum class ControllerType
+{
+    P,
+    PI
+};
+
+enum class NodeState
+{
+    INITIALIZATION,
+    PRE_OPERATIONAL,
+    OPERATIONAL,
+    STOPPED
+};
+
+#endif 

include/operational_state.h

@@ -21,9 +21,11 @@ public:
 
     void update() override;
 
-    void command(char c) override;
+    // void command(char c) override;
 
     void exit() override;
+
+    NodeState id() const override { return NodeState::OPERATIONAL; }
 };
 
 #endif

include/p_controller.h

@@ -5,21 +5,27 @@ class P_controller
 {
 protected:
     double Kp;
+    double default_Kp;  // Gildið úr constructornum, notað af restore_defaults()
 
 public:
     P_controller(double Kp);
     virtual ~P_controller() {}
     virtual double update(double ref, double actual);
     virtual void reset() {}
+    virtual void restore_defaults(); //
+    virtual double get_Kp() const { return Kp; }
+    virtual double get_Ti() const { return 0.0; }
 
     virtual void set_Kp(double value)
     {
         Kp = value;
     }
 
-    virtual void set_Ti(double value)
+    virtual bool set_Ti(double value)
     {
         // P controller does not use Ti
+        (void)value;
+        return true;
     }
 };
 

include/pi_controller.h

@@ -10,14 +10,17 @@ class PI_controller : public P_controller
         static constexpr double U_MIN = -100.0; // %
 
         double Ti;
+        double default_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 restore_defaults() override;
 
-        void set_Ti(double value) override;
+        bool set_Ti(double value) override;
+        double get_Ti() const override { return Ti; }
 };
 
 #endif

include/pre_operational_state.h

@@ -4,14 +4,14 @@
 #include "state.h"
 #include "stdint.h"
 
-class P_controller;
+// class P_controller;
 
 class PreOperationalState : public State
 {
 private:
-    P_controller &p_controller;
-    P_controller &pi_controller;
-    bool pi_selected;
+    // P_controller &p_controller;
+    // P_controller &pi_controller;
+    // bool pi_selected;
 
     int64_t previous_time;
     bool led_state;
@@ -21,7 +21,8 @@ private:
     {
         NONE,
         ENTER_KP,
-        ENTER_TI
+        ENTER_TI,
+        ENTER_RPM
     };
 
     InputMode input_mode;
@@ -30,12 +31,15 @@ private:
     uint8_t input_index;
 
 public:
-    PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+    // PreOperationalState(P_controller& p_controller, P_controller& pi_controller);
+    PreOperationalState();
 
     void enter() override;
     void update() override;
-    void command(char c) override;
+    // void command(char c) override;
     void exit() override;
+
+    NodeState id() const override { return NodeState::PRE_OPERATIONAL; }
 };
 
 #endif

include/state.h

@@ -1,6 +1,8 @@
 #ifndef STATE_H
 #define STATE_H
 
+#include "node_types.h"
+
 class MotorController;
 
 class State
@@ -22,9 +24,11 @@ public:
 
     virtual void update() = 0;  // run motor controller
 
-    virtual void command(char c) = 0;   // Listen for reset
+    // virtual void command(char c) = 0;   // Listen for reset
 
     virtual void exit() = 0;  // Stop motor
+
+    virtual NodeState id() const = 0; //
 };
 
 #endif

include/stopped_state.h

@@ -18,9 +18,11 @@ public:
 
     void update() override;
 
-    void command(char c) override;
+    // void command(char c) override;
 
     void exit() override;
+
+    NodeState id() const override { return NodeState::STOPPED; }
 };
 
 #endif