Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

src/operational_state.cpp

@@ -1,12 +1,15 @@
 #include "operational_state.h"
 #include "motor_controller.h"
 
-#include <Arduino.h>
+//#include <Arduino.h>
+
+#include <zephyr/sys/printk.h>
 
 
 void OperationalState::enter()
 {
-    Serial.println("State: Operational");
+    //Serial.println("State: Operational");
+    printk("State: Operational\n");
 
     context->reset_controller();
 
@@ -15,7 +18,8 @@ void OperationalState::enter()
     sample_count = 0;
 
 #if LOG_CSV
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    //Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    printk("time_ms,ref_rpm,actual_rpm,pwm\n");
 #endif
 }
 
@@ -32,7 +36,8 @@ void OperationalState::update()
 {
     if (context->fault_active())
     {
-        Serial.println("Fault detected");
+        //Serial.println("Fault detected");
+        printk("Fault detected\n");
 
         context->to_stopped();
 
@@ -41,17 +46,22 @@ void OperationalState::update()
 
     if (context->run_speed_controller())
     {
-        sample_count++;
+        ++sample_count;
 
 #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);
+        // 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(),
+            context->get_actual_rpm(),
+            context->get_pwm());
 #endif
     }
 }
@@ -61,14 +71,16 @@ void OperationalState::command(char c)
 {
     if (c == 'r' || c == 'R')
     {
-        Serial.println("Command: reset");
+        //Serial.println("Command: reset");
+        printk("Command: reset\n");
 
         context->to_initialization();
     }
 
     else if (c == 'p' || c == 'P')
     {
-        Serial.println("Command: set pre-operational");
+        //Serial.println("Command: set pre-operational");
+         printk("Command: set pre-operational\n");
 
         context->to_pre_operational();
     }