95 lines
1.9 KiB
C++
95 lines
1.9 KiB
C++
#include "operational_state.h"
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#include "motor_controller.h"
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//#include <Arduino.h>
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#include <zephyr/sys/printk.h>
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void OperationalState::enter()
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{
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//Serial.println("State: Operational");
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printk("State: Operational\n");
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context->reset_controller();
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context->led_on();
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sample_count = 0;
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#if LOG_CSV
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//Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
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printk("time_ms,ref_rpm,actual_rpm,pwm\n");
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#endif
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}
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// Part 1
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//void OperationalState::update()
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//{
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// context->run_speed_controller();
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//}
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// Part 2
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void OperationalState::update()
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{
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if (context->fault_active())
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{
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//Serial.println("Fault detected");
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printk("Fault detected\n");
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context->to_stopped();
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return;
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}
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if (context->run_speed_controller())
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{
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++sample_count;
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#if LOG_CSV
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// 4 ms á milli sýna, tíminn byrjar á 0 við hverja innkomu í Operational
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// Serial.print(sample_count * 4UL);
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// Serial.print(',');
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// Serial.print(context->get_reference_rpm(), 1);
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// Serial.print(',');
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// Serial.print(context->get_actual_rpm(), 2);
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// Serial.print(',');
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// Serial.println(context->get_pwm(), 1);
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printk("%u,%.1f,%.2f,%.1f\n",
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static_cast<unsigned int>(sample_count * 4U),
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context->get_reference_rpm(),
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context->get_actual_rpm(),
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context->get_pwm());
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#endif
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}
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}
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void OperationalState::command(char c)
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{
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if (c == 'r' || c == 'R')
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{
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//Serial.println("Command: reset");
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printk("Command: reset\n");
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context->to_initialization();
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}
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else if (c == 'p' || c == 'P')
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{
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//Serial.println("Command: set pre-operational");
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printk("Command: set pre-operational\n");
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context->to_pre_operational();
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}
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}
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void OperationalState::exit()
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{
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context->stop_motor();
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context->led_off();
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} |