undirbúningur falla fyrir can samskipti og prófun með lyklaborði

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();