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Nýjir kóðar og uppfærðir gamlir kóðar fyrir arduino yfir í zephyr

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This commit is contained in:
isakg22
2026-10-08 15:18:32 +00:00
parent 53091f68df
commit c2d8780478
24 changed files with 922 additions and 338 deletions
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src/pre_operational_state.cpp
+37 -19
View File
@@ -1,10 +1,17 @@
#include "pre_operational_state.h"
#include "motor_controller.h"
#include <Arduino.h>
#include <stdlib.h>
#include "p_controller.h"
PreOperationalState::PreOperationalState(P_controller& p_controller, P_controller& pi_controller)
//#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),
@@ -19,7 +26,8 @@ PreOperationalState::PreOperationalState(P_controller& p_controller, P_controlle
void PreOperationalState::enter()
{
Serial.println("State: Pre-operational");
//Serial.println("State: Pre-operational");
printk("State: Pre-operational\n");
context->stop_motor();
@@ -27,12 +35,14 @@ void PreOperationalState::enter()
led_state = false;
previous_time = millis();
//previous_time = millis();
previous_time = k_uptime_get();
}
void PreOperationalState::update()
{
unsigned long current_time = millis();
//unsigned long current_time = millis();
const int64_t current_time = k_uptime_get();
if (current_time - previous_time >= 500)
{
@@ -65,21 +75,23 @@ void PreOperationalState::command(char c)
input_buffer[input_index] = '\0';
// Convert text to a number
double value = atof(input_buffer);
const double value = atof(input_buffer);
if (input_mode == ENTER_KP)
{
context->set_Kp(value);
Serial.print("Kp set to: ");
Serial.println(value);
// Serial.print("Kp set to: ");
// Serial.println(value);
printk("Kp updated\n");
}
else if (input_mode == ENTER_TI)
{
context->set_Ti(value);
Serial.print("Ti set to: ");
Serial.println(value);
// Serial.print("Ti set to: ");
// Serial.println(value);
printk("Ti updated\n");
}
}
@@ -97,8 +109,8 @@ void PreOperationalState::command(char c)
{
if (input_index < sizeof(input_buffer) - 1)
{
input_buffer[input_index] = c;
input_index++;
input_buffer[input_index++] = c;
//input_index++;
}
}
@@ -109,14 +121,16 @@ void PreOperationalState::command(char c)
// Normal state commands
if (c == 'o' || c == 'O')
{
Serial.println("Command: set operational");
//Serial.println("Command: set operational");
printk("Command: set operational\n");
context->to_operational();
}
else if (c == 'r' || c == 'R')
{
Serial.println("Command: reset");
//Serial.println("Command: reset");
printk("Command: reset\n");
context->to_initialization();
}
@@ -126,7 +140,8 @@ void PreOperationalState::command(char c)
input_mode = ENTER_KP;
input_index = 0;
Serial.println("Enter Kp and press Enter:");
//Serial.println("Enter Kp and press Enter:");
printk("Enter Kp and press Enter:\n");
}
else if (c == 't' || c == 'T')
@@ -134,7 +149,8 @@ void PreOperationalState::command(char c)
input_mode = ENTER_TI;
input_index = 0;
Serial.println("Enter Ti and press Enter:");
//Serial.println("Enter Ti and press Enter:");
printk("Enter Ti and press Enter:\n");
}
// Select controller algorithm, the controller is passed to the motor controller
@@ -145,12 +161,14 @@ void PreOperationalState::command(char c)
if (pi_selected)
{
context->set_controller(pi_controller);
Serial.println("Controller: PI");
//Serial.println("Controller: PI");
printk("Controller: PI\n");
}
else
{
context->set_controller(p_controller);
Serial.println("Controller: P");
//Serial.println("Controller: P");
printk("Controller: P\n");
}
}
}