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

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This commit is contained in:
helgie22
2026-10-15 12:15:50 +00:00
parent 782feb2d04
commit 6d384265eb
32 changed files with 188 additions and 696 deletions
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src/pre_operational_state.cpp
+6 -23
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@@ -3,22 +3,16 @@
#include "p_controller.h"
//#include <Arduino.h>
#include <stdlib.h>
#include <zephyr/kernel.h>
#include <zephyr/sys/printk.h>
PreOperationalState::PreOperationalState(P_controller &p_controller, P_controller &pi_controller)
: p_controller(p_controller),
pi_controller(pi_controller),
pi_selected(true),
previous_time(0),
led_state(false),
//waiting_for_kp(false),
//waiting_for_ti(false),
input_mode(NONE),
input_index(0)
{
@@ -26,22 +20,22 @@ PreOperationalState::PreOperationalState(P_controller &p_controller, P_controlle
void PreOperationalState::enter()
{
//Serial.println("State: Pre-operational");
printk("State: Pre-operational\n");
// The selection survives a reset, so report it (used by capture_serial.py).
printk("Controller: %s\n", pi_selected ? "PI" : "P");
context->stop_motor();
context->led_off();
led_state = false;
//previous_time = millis();
previous_time = k_uptime_get();
}
void PreOperationalState::update()
{
//unsigned long current_time = millis();
const int64_t current_time = k_uptime_get();
if (current_time - previous_time >= 500)
@@ -81,17 +75,13 @@ void PreOperationalState::command(char c)
{
context->set_Kp(value);
// Serial.print("Kp set to: ");
// Serial.println(value);
printk("Kp updated\n");
printk("Kp set to: %.4f\n", value);
}
else if (input_mode == ENTER_TI)
{
context->set_Ti(value);
// Serial.print("Ti set to: ");
// Serial.println(value);
printk("Ti updated\n");
printk("Ti set to: %.4f\n", value);
}
}
@@ -110,7 +100,6 @@ void PreOperationalState::command(char c)
if (input_index < sizeof(input_buffer) - 1)
{
input_buffer[input_index++] = c;
//input_index++;
}
}
@@ -121,7 +110,6 @@ void PreOperationalState::command(char c)
// Normal state commands
if (c == 'o' || c == 'O')
{
//Serial.println("Command: set operational");
printk("Command: set operational\n");
context->to_operational();
@@ -129,7 +117,6 @@ void PreOperationalState::command(char c)
else if (c == 'r' || c == 'R')
{
//Serial.println("Command: reset");
printk("Command: reset\n");
context->to_initialization();
@@ -140,7 +127,6 @@ void PreOperationalState::command(char c)
input_mode = ENTER_KP;
input_index = 0;
//Serial.println("Enter Kp and press Enter:");
printk("Enter Kp and press Enter:\n");
}
@@ -149,7 +135,6 @@ void PreOperationalState::command(char c)
input_mode = ENTER_TI;
input_index = 0;
//Serial.println("Enter Ti and press Enter:");
printk("Enter Ti and press Enter:\n");
}
@@ -161,13 +146,11 @@ void PreOperationalState::command(char c)
if (pi_selected)
{
context->set_controller(pi_controller);
//Serial.println("Controller: PI");
printk("Controller: PI\n");
}
else
{
context->set_controller(p_controller);
//Serial.println("Controller: P");
printk("Controller: P\n");
}
}
@@ -176,4 +159,4 @@ void PreOperationalState::command(char c)
void PreOperationalState::exit()
{
context->led_off();
}
}