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

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