File management and Completed Part 1

Project_3_Dynamic_Controller/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

Project_3_Dynamic_Controller/include/context.h

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+#ifndef CONTEXT_H
+#define CONTEXT_H
+
+#include <state.h>
+
+class Context
+{
+public:
+    Context(State& initialState);
+
+    void transition_to(State& newState);
+
+    void do_work();
+
+    void reset();
+    void set_operational();
+    void set_pre_operational();
+    void fault();
+
+    const char* current_state_name() const;
+
+private:
+    State* state;
+};
+
+#endif

Project_3_Dynamic_Controller/include/control_timer.h

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+#ifndef CONTROL_TIMER_H
+#define CONTROL_TIMER_H
+
+#include <stdint.h>
+
+class Control_timer
+{
+public:
+    void init();
+
+    // Returns true once for every 4 ms control tick.
+    bool take_tick();
+
+    uint32_t tick_count() const;
+};
+
+#endif

Project_3_Dynamic_Controller/include/controller.h

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+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+class Controller
+{
+public:
+    virtual ~Controller() = default;
+
+    virtual double update(
+        double reference,
+        double actual
+    ) = 0;
+
+    virtual void reset() = 0;
+
+    virtual const char* name() const = 0;
+};
+
+#endif

Project_3_Dynamic_Controller/include/digital_in.h

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+#ifndef DIGITAL_IN_H
+#define DIGITAL_IN_H
+
+#include <stdint.h>
+
+class Digital_in
+{
+public:
+    // pin is the PORTB bit number:
+    // PB0 = D8, PB1 = D9, ..., PB5 = D13
+    Digital_in(uint8_t pin);
+
+    void init();
+
+    bool is_hi() const;
+    bool is_lo() const;
+
+private:
+    uint8_t pinMask;
+};
+
+#endif

Project_3_Dynamic_Controller/include/digital_out.h

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+#ifndef DIGITAL_OUT_H
+#define DIGITAL_OUT_H
+
+#include <stdint.h>
+
+class Digital_out
+{
+public:
+    // pin is the PORTB bit number:
+    // PB0 = D8, ..., PB5 = D13
+    Digital_out(uint8_t pin);
+
+    void init();
+
+    void set_hi();
+    void set_lo();
+    void toggle();
+
+private:
+    uint8_t pinMask;
+};
+
+#endif

Project_3_Dynamic_Controller/include/encoder.h

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+#ifndef ENCODER_H
+#define ENCODER_H
+
+#include <stdint.h>
+#include <digital_in.h>
+
+class Encoder
+{
+public:
+    Encoder(uint8_t c1Pin, uint8_t c2Pin);
+
+    void init();
+    void update();
+
+    int32_t position() const;
+
+private:
+    Digital_in c1;
+    Digital_in c2;
+
+    uint8_t c1Pin;
+
+    bool previousC1;
+
+    volatile int32_t count;
+};
+
+#endif

Project_3_Dynamic_Controller/include/initialization.h

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+#ifndef INITIALIZATION_H
+#define INITIALIZATION_H
+
+#include <state.h>
+#include <speed_controller.h>
+#include <digital_out.h>
+
+class Initialization : public State
+{
+public:
+    Initialization(
+        Speed_controller& speedController,
+        Digital_out& statusLED
+    );
+
+    const char* name() const override;
+
+    void on_entry() override;
+    void on_do() override;
+    void on_exit() override;
+
+    void set_operational() override;
+
+    void set_operational_state(
+        State& operationalState
+    );
+
+private:
+    Speed_controller& speedController;
+    Digital_out& statusLED;
+
+    State* operationalState;
+};
+
+#endif

Project_3_Dynamic_Controller/include/motor_driver.h

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+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+class Motor_driver
+{
+public:
+    void init();
+
+    // Range: -255 ... +255
+    void set_command(double command);
+
+    void coast();
+
+    void brake();
+
+    double command() const;
+
+private:
+    double currentCommand;
+
+    void enable_pwm_outputs();
+
+    unsigned char magnitude(double value) const;
+};
+
+#endif

Project_3_Dynamic_Controller/include/operational.h

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+#ifndef OPERATIONAL_H
+#define OPERATIONAL_H
+
+#include <stdint.h>
+
+#include <state.h>
+#include <speed_controller.h>
+#include <digital_out.h>
+
+class Operational : public State
+{
+public:
+    Operational(
+        Speed_controller& speedController,
+        Digital_out& statusLED
+    );
+
+    const char* name() const override;
+
+    void on_entry() override;
+    void on_do() override;
+    void on_exit() override;
+
+    void reset() override;
+
+    void set_initialization_state(
+        State& initializationState
+    );
+
+private:
+    Speed_controller& speedController;
+    Digital_out& statusLED;
+
+    State* initializationState;
+
+    uint8_t logCounter;
+};
+
+#endif

Project_3_Dynamic_Controller/include/p_controller.h

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+#ifndef P_CONTROLLER_H
+#define P_CONTROLLER_H
+
+#include <controller.h>
+
+class P_controller : public Controller
+{
+public:
+    P_controller(double kp);
+
+    double update(
+        double reference,
+        double actual
+    ) override;
+
+    void reset() override;
+
+    const char* name() const override;
+
+    void set_kp(double kp);
+    double get_kp() const;
+
+private:
+    double kp;
+
+    double limit(double value) const;
+};
+
+#endif

Project_3_Dynamic_Controller/include/speed_controller.h

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+#ifndef SPEED_CONTROLLER_H
+#define SPEED_CONTROLLER_H
+
+#include <encoder.h>
+#include <speed_estimator.h>
+#include <motor_driver.h>
+#include <controller.h>
+
+class Speed_controller
+{
+public:
+    Speed_controller(
+        Encoder& encoder,
+        Speed_estimator& estimator,
+        Motor_driver& motor,
+        Controller& controller
+    );
+
+    void start();
+    void stop();
+    void brake();
+
+    void update();
+
+    void set_reference(double rpm);
+    double reference() const;
+
+    void set_controller(Controller& controller);
+
+    double actual_rpm() const;
+    double control_output() const;
+
+private:
+    Encoder& encoder;
+    Speed_estimator& estimator;
+    Motor_driver& motor;
+
+    Controller* controller;
+
+    bool running;
+
+    double referenceRPM;
+    double actualRPM;
+    double controlOutput;
+};
+
+#endif

Project_3_Dynamic_Controller/include/speed_estimator.h

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+#ifndef SPEED_ESTIMATOR_H
+#define SPEED_ESTIMATOR_H
+
+#include <stdint.h>
+
+class Speed_estimator
+{
+public:
+    Speed_estimator(
+        double countsPerRevolution,
+        double sampleTimeSeconds
+    );
+
+    void reset(int32_t initialPosition);
+
+    double update(int32_t currentPosition);
+
+    double rpm() const;
+
+private:
+    static const uint8_t WINDOW_SIZE = 10;
+
+    double countsPerRevolution;
+    double sampleTime;
+
+    int32_t previousPosition;
+
+    int32_t countHistory[WINDOW_SIZE];
+    int32_t rollingCounts;
+
+    uint8_t historyIndex;
+    uint8_t samplesFilled;
+
+    double currentRPM;
+};
+
+#endif

Project_3_Dynamic_Controller/include/state.h

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+#ifndef STATE_H
+#define STATE_H
+
+class Context;
+
+class State
+{
+protected:
+    Context* context_ = nullptr;
+
+public:
+    virtual ~State() = default;
+
+    void set_context(Context* context)
+    {
+        context_ = context;
+    }
+
+    virtual const char* name() const = 0;
+
+    virtual void on_entry() = 0;
+    virtual void on_do() = 0;
+    virtual void on_exit() = 0;
+
+    // Events
+    virtual void reset()
+    {
+    }
+
+    virtual void set_operational()
+    {
+    }
+
+    virtual void set_pre_operational()
+    {
+    }
+
+    virtual void fault()
+    {
+    }
+};
+
+#endif