Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

src/motor_controller.cpp

@@ -1,17 +1,17 @@
 #include "motor_controller.h"
 #include "state.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
 
 
 MotorController::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
 )
     : current_state(nullptr),
       initialization_state(initialization),
@@ -54,15 +54,13 @@ void MotorController::begin()
 }
 
 
-void MotorController::transition_to(State& new_state)
+void MotorController::transition_to(State &new_state)
 {
-    if (current_state != nullptr)
-    {
+    if (current_state != nullptr) {
         current_state->exit();
     }
 
     current_state = &new_state;
-
     current_state->enter();
 }
 
@@ -109,9 +107,9 @@ bool MotorController::run_speed_controller()
         return false;
     }
 
-    double actual = encoder.rpm();
+    const double actual = encoder.rpm();
 
-    double pwm_percent =
+    const double pwm_percent =
         controller->update(reference_rpm, actual);
 
     double pwm =