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removed old project 3 folder

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This commit is contained in:
nokkvinetti
2026-10-03 20:54:08 +00:00
parent 5a2645ac4f
commit 3236542c53
20 changed files with 0 additions and 769 deletions
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Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/Initialization.h
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#pragma once
#include <Arduino.h>
#include "State.h"
class Idle : public State
{
private:
uint32_t timer;
public:
void on_do() override;
void on_entry() override;
void on_exit() override;
// transisions from Initialization
void o_pressed() override;
//void preoperational() override;
};
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/Operational.h
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#pragma once
#include <Arduino.h>
#include "State.h"
class Operational : public State
{
private:
uint32_t timer;
public:
void on_do() override;
void on_entry() override;
void on_exit() override;
void Reset() override;
};
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/context.h
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#pragma once
#include "State.h"
/**
* The Context defines the interface of interest to clients. It also maintains a
* reference to an instance of a State subclass, which represents the current
* state of the Context.
*/
class Context
{
private:
State *state_;
public:
Context(State *state);
~Context();
void transition_to(State *state);
void do_work();
void o_pressed();
void reset();
};
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/digital_in.h
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#ifndef DIGITAL_IN_H
#define DIGITAL_IN_H
#include <stdint.h>
class Digital_in
{
public:
Digital_in(int pin);
void init();
bool is_hi();
bool is_lo();
private:
uint8_t pinMask;
};
#endif
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/digital_out.h
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#ifndef DIGITAL_OUT_H
#define DIGITAL_OUT_H
#include <stdint.h>
class Digital_out
{
public:
Digital_out(int pin);
void init();
void set_hi();
void set_lo();
void toggle();
private:
uint8_t pinMask;
};
#endif
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/encoder.h
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#ifndef ENCODER_H
#define ENCODER_H
#include <digital_in.h>
#include <digital_out.h>
class Encoder
{
public:
Encoder(int c1Pin, int c2Pin, int ledPin);
void init();
void update();
int position();
int speed();
private:
Digital_in c1;
Digital_in c2;
Digital_out led;
bool previousC1;
volatile int count;
int pastCount;
uint32_t pastTime;
};
#endif
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/p_controller.h
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#ifndef P_CONTROLLER_H
#define P_CONTROLLER_H
class P_controller
{
public:
P_controller(double kp);
double update(double ref, double actual);
private:
double kp;
};
#endif
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/include/state.h
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#pragma once
class Context;
class State
{
protected:
Context *context_;
public:
virtual ~State()
{
}
void set_context(Context *context)
{
this->context_ = context;
}
virtual void on_do() = 0;
virtual void on_entry() = 0;
virtual void on_exit() = 0;
//initialize transisions
virtual void reset()
{
}
virtual void o_pressed()
{
}
};
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/lib/README
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into the executable file.
The source code of each library should be placed in a separate directory
("lib/your_library_name/[Code]").
For example, see the structure of the following example libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Example contents of `src/main.c` using Foo and Bar:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
The PlatformIO Library Dependency Finder will find automatically dependent
libraries by scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/lib/docs/diagrams/src/state.wsd
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@startuml
'Start at initialization
[*]--> Initialization
'states'
Initialization: entry / initialize internal parameters
Operational: entry / Turn on Led
Operational: do / normal input-output behavior
Operational: exit / stop operations
'- state changes -
Initialization -> Operational: "o" pressed
Initialization <- Operational: reset / "r" pressed
'Idle -> Cooling: too hot
'Idle -> Heating: too cool [restart time >= 5 mins]
'Cooling -> Idle: ok
'Cooling -> Failure : failure
@enduml
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/platformio.ini
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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:nanoatmega328new]
platform = atmelavr
board = nanoatmega328new
framework = arduino
monitor_speed = 115200
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/Initialization.cpp
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#include "Initialization.h"
#include "Context.h"
// include things that will transition to
//#include "Operational.h"
//#include "PreOperational.h"
//const uint32_t restart_time = 10000; // 300000 = 5 minutes
// initialization setup
void Initialization::on_entry()
{
Serial.println("Now Initialization");
// initialize parameters here
Serial.println("Boot-up")
//timer = millis();
}
void Initialization::on_do()
{
//if (millis() - timer >= restart_time)
//{
// too_cold();
//}
}
void Initialization::on_exit()
{
}
// special transistions
void Initialization::o_pressed()
{
Serial.println(""O" pressed");
this->context_->transition_to(new Operational);
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/Operational.cpp
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#include "Operational.h"
#include "Context.h"
#include "Initialization.h"
void Operational::on_entry()
{
Serial.println("Operational Startup");
timer = millis();
}
void Operational::on_do()
{
// Automatically go to Idle after 2 seconds
if (millis() - timer >= 2000)
{
Serial.println("2s elapsed");
this->context_->transition_to(new Idle);
}
}
void Operational::on_exit()
{
}
void Operational::Reset()
{
Serial.println("Reset / "r" pressed");
this->context_->transition_to(new Reset);
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/context.cpp
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#include "Context.h"
Context::Context(State *state) : state_(nullptr)
{
this->transition_to(state);
}
Context::~Context()
{
delete state_;
}
void Context::transition_to(State *state)
{
if (this->state_ != nullptr)
{
this->state_->on_exit();
delete this->state_;
}
this->state_ = state;
this->state_->set_context(this);
this->state_->on_entry();
}
void Context::reset()
{
this->state_->Initialization();
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/digital_in.cpp
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#include <digital_in.h>
#include <avr/io.h>
Digital_in::Digital_in(int pin)
{
pinMask = static_cast<uint8_t>(1U << pin);
}
void Digital_in::init()
{
// Configure pin as input
DDRB &= static_cast<uint8_t>(~pinMask);
// Enable internal pull-up resistor
PORTB |= pinMask;
}
bool Digital_in::is_hi()
{
return (PINB & pinMask) != 0;
}
bool Digital_in::is_lo()
{
return (PINB & pinMask) == 0;
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/digital_out.cpp
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#include <digital_out.h>
#include <avr/io.h>
Digital_out::Digital_out(int pin)
{
pinMask = static_cast<uint8_t>(1U << pin);
}
void Digital_out::init()
{
DDRB |= pinMask;
}
void Digital_out::set_hi()
{
PORTB |= pinMask;
}
void Digital_out::set_lo()
{
PORTB &= static_cast<uint8_t>(~pinMask);
}
void Digital_out::toggle()
{
PORTB ^= pinMask;
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/encoder.cpp
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#include <encoder.h>
#include <Arduino.h>
#include <avr/io.h>
#include <avr/interrupt.h>
static Encoder* activeEncoder = nullptr;
ISR(PCINT0_vect)
{
if (activeEncoder != nullptr)
{
activeEncoder->update();
}
}
Encoder::Encoder(int c1Pin, int c2Pin, int ledPin)
: c1(c1Pin), c2(c2Pin), led(ledPin),
previousC1(false), count(0)
{
}
void Encoder::init()
{
c1.init();
c2.init();
led.init();
led.set_lo();
activeEncoder = this;
// Clear any pending PORTB pin-change interrupt
PCIFR |= (1 << PCIF0);
// Enable pin-change interrupts for PORTB
PCICR |= (1 << PCIE0);
// Enable interrupt specifically for PB3 / D8 / C1
PCMSK0 |= (1 << PCINT0);
//capture baseline
previousC1 = c1.is_hi();
count = 0;
// Enable global interrupts
sei();
// Set initial states for speed
pastCount = count;
pastTime = micros();
}
void Encoder::update()
{
led.set_lo();
bool currentC1 = c1.is_hi();
if (currentC1 != previousC1)
{
bool currentC2 = c2.is_hi();
if (currentC1 == currentC2)
{
count++;
}
else
{
count--;
}
previousC1 = currentC1;
led.set_hi();
}
}
int Encoder::position()
{
uint8_t oldSREG = SREG;
cli();
int currentCount = count;
SREG = oldSREG;
return currentCount;
}
int Encoder::speed()
{
int currentCount = position();
uint32_t currentTime = micros(); //gives arduino microseconds since program started running
//from spec sheet we get 1400 counts per revolution from driver
// or from assignment 1: 2100
int rpm = ((currentCount-pastCount)*6e7)/((currentTime-pastTime)*2100); // we turn counts to rotations by dividing by 1400 and microsecond to minutes by multiplying with 60 and 10^6
pastTime = currentTime;
pastCount = currentCount;
return rpm;
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/main.cpp
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// State Behaviour based on the C++ example at Refactoring Guru
#include <Arduino.h>
#include <avr/interrupt.h>
#include "Context.h"
#include "Initialization.h"
Context *context;
void setup()
{
Serial.begin(9600);
sei();
// Start the state machine in Idle
context = new Context(new Idle);
}
void loop()
{
int c = 0;
if (Serial.available() > 0)
{
c = Serial.read();
Serial.print("I received: ");
Serial.println(c, DEC);
if (c == 'o')
{
// Initializing -> operational
context->o_pressed();
}
if (c == 'r')
{
// operational -> initializing
context->reset();
}
}
// Run the behavior of the current state
context->do_work();
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/p_controller.cpp
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#include <p_controller.h>
P_controller::P_controller(double kp)
: kp(kp)
{
}
double P_controller::update(double ref, double actual)
{
return kp * (ref - actual);
}
Project_3_Dynamic_controller_behaviour/Part_1_INIT_and_OP/src/speedcontrollermain.cpp
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/*
#include <Arduino.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <encoder.h>
#include <p_controller.h>
Encoder encoder(0, 1, 5);
P_controller controller(40.0);
volatile bool updateFlag = false;
ISR(TIMER1_COMPA_vect)
{
updateFlag = true;
}
int main()
{
init();
encoder.init();
Serial.begin(115200);
// D11 / PB3 -> AIN1
DDRB |= (1 << PB3);
PORTB &= ~(1 << PB3);
// D3 / PD3 / OC2B -> AIN2 PWM
DDRD |= (1 << PD3);
// Timer1: 250 Hz
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = 999;
TCCR1B |= (1 << WGM12);
TCCR1B |= (1 << CS11) | (1 << CS10);
TIMSK1 |= (1 << OCIE1A);
// Timer2: 7.8 kHz PWM
TCCR2A = 0;
TCCR2B = 0;
TCNT2 = 0;
OCR2B = 0;
TCCR2A =
(1 << COM2B1) |
(1 << WGM21) |
(1 << WGM20);
TCCR2B = (1 << CS21);
sei();
Serial.println("Load test starting in 2 seconds...");
uint16_t waitCount = 0;
while (waitCount < 500)
{
if (updateFlag)
{
updateFlag = false;
waitCount++;
}
}
int previousCount = encoder.position();
int countHistory[10] = {0};
int rollingCounts = 0;
uint8_t historyIndex = 0;
uint8_t samplesFilled = 0;
uint32_t updateCount = 0;
const double reference = 50.0;
Serial.println("time_ms,reference_rpm,actual_rpm,pwm");
while (1)
{
if (updateFlag)
{
updateFlag = false;
updateCount++;
uint32_t time_ms = updateCount * 4;
int currentCount = encoder.position();
int deltaCount = currentCount - previousCount;
previousCount = currentCount;
rollingCounts -= countHistory[historyIndex];
countHistory[historyIndex] = deltaCount;
rollingCounts += deltaCount;
historyIndex++;
if (historyIndex >= 10)
{
historyIndex = 0;
}
if (samplesFilled < 10)
{
samplesFilled++;
}
double windowTime = samplesFilled * 0.004;
double rpm =
(rollingCounts * 60.0) /
(2100.0 * windowTime);
double output =
controller.update(reference, rpm);
if (output < 0.0)
{
output = 0.0;
}
if (output > 255.0)
{
output = 255.0;
}
uint8_t pwm = (uint8_t)output;
OCR2B = pwm;
if ((updateCount % 10) == 0)
{
Serial.print(time_ms);
Serial.print(",");
Serial.print(reference);
Serial.print(",");
Serial.print(rpm);
Serial.print(",");
Serial.println(pwm);
}
if (time_ms >= 10000)
{
OCR2B = 0;
Serial.println("TEST COMPLETE");
break;
}
}
}
while (1)
{
}
return 0;
}
*/