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current working PoC

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This commit is contained in:
Robert Schauklies 2026-03-21 22:34:11 +01:00
parent c6db09ac2c
commit 05b07e5ee3
1 changed files with 14 additions and 14 deletions
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28
spinnyboy_rust/src/bin/main.rs
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@ -62,7 +62,7 @@ extern crate alloc;
//target RPM
const DEFAULT_TARGET_RPM: u32 = 4000;
//in seconds
const DEFAULT_SPIN_TIME: u32 = 10;
const DEFAULT_SPIN_TIME: u64 = 10;
// This creates a default app-descriptor required by the esp-idf bootloader.
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
esp_bootloader_esp_idf::esp_app_desc!();
@ -129,7 +129,7 @@ fn main() -> ! {
let loop_time = Duration::from_micros(10);
let cfg = pid::PidConfigBuilder::default()
.kp(2.0)
.ki(0.0)
.ki(0.4)
.output_limits(100.00, 400.00)
.sample_time(loop_time)
.filter_tc(0.1)
@ -137,8 +137,6 @@ fn main() -> ! {
.expect("Failed to build a PID configuration");
let controller = pid::FuncPidController::new(cfg);
let mut ctx = PidContext::new(Millis(0), 0.0, 0.0);
let set_point = DEFAULT_TARGET_RPM;
let mut rpm = 0;
let mut control: f32 = 200.0;
let mut timg0 = TimerGroup::new(peripherals.TIMG0);
let coat_timer = timg0.timer0;
@ -177,8 +175,8 @@ fn main() -> ! {
let mut display = Nextion::new(&mut uart0);
//we just set it to page0 to be sure
display.send_command(b"page page0");
let mut _rpm = DEFAULT_TARGET_RPM;
let mut _timer = DEFAULT_SPIN_TIME;
let mut target_rpm = DEFAULT_TARGET_RPM;
let mut timer:u64 = DEFAULT_SPIN_TIME;
let mut started = false;
loop {
if display.read_ready() {
@ -198,11 +196,11 @@ fn main() -> ! {
}
Ok(Command::SetRpm(x)) => {
rprintln!("SET_RPM with {}", x);
_rpm = x;
target_rpm = x;
}
Ok(Command::SetTimer(x)) => {
rprintln!("SETTING TIMER {}", x);
_timer = x;
timer = x as _;
}
Ok(Command::SendConfig) => {
rprintln!("SEND CONFIG");
@ -224,18 +222,20 @@ fn main() -> ! {
if started {
rprintln!("STARTING!");
let _ = coat_timer
.load_value(esp_hal::time::Duration::from_secs(10))
.load_value(esp_hal::time::Duration::from_secs(timer))
.expect("TODO: Could not set timer for coating! ");
dshot_esc.arm();
let mut rpm_fail_ctr = 0;
let set_point = target_rpm;
coat_timer.start();
let mut current_rpm = 0;
while !coat_timer.is_interrupt_set() {
dshot_esc.process();
//let control_val = dc_driver::
//this bad boy needs floats, this will be fun :)
control = 200.00;
dshot_esc.set_throttle(control as _);
rpm = match dshot_esc.get_rpm() {
current_rpm = match dshot_esc.get_rpm() {
Some(x) => {
// rprintln!("GOT RPM {}", x);
x
@ -243,7 +243,7 @@ fn main() -> ! {
None => {
rpm_fail_ctr+=1;
// rprintln!("NO RPM!");
rpm
current_rpm
}
};
// rprintln!("RPM:{}",rpm);
@ -253,12 +253,12 @@ fn main() -> ! {
.duration_since_epoch()
.as_millis();
(control, ctx) =
controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None);
controller.compute(ctx, current_rpm as _, set_point as _, Millis(timestamp), None);
let dumped_context = ctx.last_time().expect("LAST TIME!");
rprintln!("control:{},rpm:{}", control,rpm);
rprintln!("control:{},rpm:{}", control,current_rpm);
//first we send the RPM!
if display.write_ready(){
let running_rpm = format!("rpm.val={}", rpm);
let running_rpm = format!("rpm.val={}", current_rpm);
display.send_command(running_rpm.to_string().as_bytes());
}
if display.write_ready(){