Heljarinnar breytingar til þess að laga nokkra hluti í part 1.

src/operational_state.cpp

@@ -1,14 +1,10 @@
 #include "operational_state.h"
 #include "motor_controller.h"
 
-//#include <Arduino.h>
-
 #include <zephyr/sys/printk.h>
 
-
 void OperationalState::enter()
 {
-    //Serial.println("State: Operational");
     printk("State: Operational\n");
 
     context->reset_controller();
@@ -18,25 +14,15 @@ void OperationalState::enter()
     sample_count = 0;
 
 #if LOG_CSV
-    //Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
     printk("time_ms,ref_rpm,actual_rpm,pwm\n");
 #endif
 }
 
-// Part 1 
-
-//void OperationalState::update()
-//{
-//    context->run_speed_controller();
-//}
-
-// Part 2
 
 void OperationalState::update()
 {
     if (context->fault_active())
     {
-        //Serial.println("Fault detected");
         printk("Fault detected\n");
 
         context->to_stopped();
@@ -50,13 +36,6 @@ void OperationalState::update()
 
 #if LOG_CSV
         // 4 ms á milli sýna, tíminn byrjar á 0 við hverja innkomu í Operational
-        // Serial.print(sample_count * 4UL);
-        // Serial.print(',');
-        // Serial.print(context->get_reference_rpm(), 1);
-        // Serial.print(',');
-        // Serial.print(context->get_actual_rpm(), 2);
-        // Serial.print(',');
-        // Serial.println(context->get_pwm(), 1);
         printk("%u,%.1f,%.2f,%.1f\n",
             static_cast<unsigned int>(sample_count * 4U),
             context->get_reference_rpm(),
@@ -71,7 +50,6 @@ void OperationalState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
-        //Serial.println("Command: reset");
         printk("Command: reset\n");
 
         context->to_initialization();
@@ -79,7 +57,6 @@ void OperationalState::command(char c)
 
     else if (c == 'p' || c == 'P')
     {
-        //Serial.println("Command: set pre-operational");
          printk("Command: set pre-operational\n");
 
         context->to_pre_operational();
@@ -92,4 +69,4 @@ void OperationalState::exit()
     context->stop_motor();
 
     context->led_off();
-}
+}