Setti inn allar skrár frá Project 3 og bætti við overlay í samræmi við controlloerinn og pin out.

docs/diagrams/src/motor_state.wsd

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+@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