Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

include/motor_controller.h

@@ -1,6 +1,8 @@
 #ifndef MOTOR_CONTROLLER_H
 #define MOTOR_CONTROLLER_H
 
+#include <stdint.h>
+
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
@@ -14,7 +16,8 @@ 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
+    //static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
+    static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
 
     State* current_state;
 
@@ -23,9 +26,9 @@ private:
     State& operational_state;
     State& stopped_state;
 
-    RotaryEncoderDriver& encoder;
-    MotorDriver& motor;
-    P_controller* controller;
+    RotaryEncoderDriver &encoder;
+    MotorDriver &motor;
+    P_controller *controller;
 
     Digital_out led;
 
@@ -38,13 +41,13 @@ private:
 
 public:
     MotorController(
-        RotaryEncoderDriver& encoder,
-        MotorDriver& motor,
-        P_controller& controller,
-        State& initialization,
-        State& pre_operational,
-        State& operational,
-        State& stopped
+        RotaryEncoderDriver &encoder,
+        MotorDriver &motor,
+        P_controller &controller,
+        State &initialization,
+        State &pre_operational,
+        State &operational,
+        State &stopped
     );
 
 
@@ -54,7 +57,7 @@ public:
 
     void command(char c);
 
-    void transition_to(State& new_state);
+    void transition_to(State &new_state);
 
 
     void to_initialization();
@@ -85,7 +88,7 @@ public:
 
     void set_Ti(double value);
 
-    void set_controller(P_controller& new_controller);
+    void set_controller(P_controller &new_controller);
 
     void led_on();