99 lines
1.9 KiB
C++
99 lines
1.9 KiB
C++
#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include <stdint.h>
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#include "rotary_encoder_driver.h"
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#include "motor_driver.h"
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#include "p_controller.h"
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#include "digital_out.h"
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class State;
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class MotorController
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{
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private:
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static constexpr double DEFAULT_REFERENCE_RPM = -40.0;
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static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
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//static const uint8_t LED_PIN = 5; // PB5 = D13 = LED_BUILTIN
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static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
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State* current_state;
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State& initialization_state;
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State& pre_operational_state;
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State& operational_state;
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State& stopped_state;
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RotaryEncoderDriver &encoder;
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MotorDriver &motor;
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P_controller *controller;
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Digital_out led;
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double reference_rpm;
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// Síðasta sýni, notað fyrir CSV-útprentun
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double last_actual_rpm;
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double last_pwm;
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public:
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MotorController(
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RotaryEncoderDriver &encoder,
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MotorDriver &motor,
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P_controller &controller,
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State &initialization,
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State &pre_operational,
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State &operational,
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State &stopped
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);
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void begin();
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void update();
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void command(char c);
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void transition_to(State &new_state);
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void to_initialization();
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void to_pre_operational();
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void to_operational();
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void to_stopped();
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bool fault_active();
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// Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
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bool run_speed_controller();
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double get_reference_rpm() const { return reference_rpm; }
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double get_actual_rpm() const { return last_actual_rpm; }
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double get_pwm() const { return last_pwm; }
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void stop_motor();
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void reset_speed_measurement();
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void reset_controller();
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void set_Kp(double value);
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void set_Ti(double value);
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void set_controller(P_controller &new_controller);
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void led_on();
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void led_off();
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};
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#endif
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