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

include/digital_in.h

@@ -0,0 +1,14 @@
+#ifndef DIGITAL_IN_H
+#define DIGITAL_IN_H
+#include <stdint.h>
+
+struct Digital_in {
+    uint8_t pin_mask;
+
+    Digital_in(uint8_t pin);
+    
+    void init();
+    bool is_hi();
+    bool is_lo();
+};
+#endif

include/digital_out.h

@@ -0,0 +1,15 @@
+#ifndef DIGITAL_OUT_H
+#define DIGITAL_OUT_H
+#include<stdint.h>
+
+struct Digital_out {
+    uint8_t pin_mask;
+
+    Digital_out(uint8_t pin);
+
+    void init();
+    void toggle();
+    void set_hi();
+    void set_lo();
+};
+#endif

include/initialization_state.h

@@ -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

include/motor_controller.h

@@ -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

include/motor_driver.h

@@ -0,0 +1,22 @@
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+class MotorDriver
+{
+public:
+    MotorDriver();
+
+    void begin();
+
+    void forward();
+
+    void reverse();
+
+    void stop();
+
+    void set(double pwm);
+
+    bool fault_active();   // Fault detection for part 2
+};
+
+#endif

include/operational_state.h

@@ -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

include/p_controller.h

@@ -0,0 +1,26 @@
+#ifndef P_CONTROLLER_H
+#define P_CONTROLLER_H
+
+class P_controller
+{
+protected:
+    double Kp;
+
+public:
+    P_controller(double Kp);
+    virtual ~P_controller() {}
+    virtual double update(double ref, double actual);
+    virtual void reset() {}
+
+    virtual void set_Kp(double value)
+    {
+        Kp = value;
+    }
+
+    virtual void set_Ti(double value)
+    {
+        // P controller does not use Ti
+    }
+};
+
+#endif

include/pi_controller.h

@@ -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

include/pre_operational_state.h

@@ -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

include/rotary_encoder_driver.h

@@ -0,0 +1,49 @@
+#ifndef ROTARY_ENCODER_DRIVER_H
+#define ROTARY_ENCODER_DRIVER_H
+
+#include <stdint.h>
+
+#include "digital_in.h"
+#include "timer_usec.h"
+
+class RotaryEncoderDriver {
+public:
+    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
+    static constexpr float COUNTS_PER_REV = 1050.0f;
+
+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 int32_t history[HIST_LEN];
+    volatile uint8_t hist_idx;
+
+    Digital_in eA;
+    Digital_in eB;
+
+    Timer_usec timer;
+
+public:
+    RotaryEncoderDriver();
+
+    void begin();
+
+    void update();
+
+    int32_t position();
+
+    void update_delta();
+
+    float count_per_sec();
+
+    float rpm();
+
+    bool new_speed_available();
+
+    void reset_speed_measurement();
+
+};
+#endif

include/state.h

@@ -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

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

include/timer_usec.h

@@ -0,0 +1,9 @@
+#ifndef TIMER_USEC_H
+#define TIMER_USEC_H
+#include <avr/io.h>
+
+struct Timer_usec {
+    Timer_usec();
+    void init(uint16_t period_us);
+};
+#endif