From 0e97a15fab532d22a2f53e1e5aa071475ca309d0 Mon Sep 17 00:00:00 2001
From: Robert Schauklies <robert.schauklies@posteo.de>
Date: Sat, 14 Mar 2026 18:07:23 +0100
Subject: [PATCH] just testing with the magic value

---
 spinnyboy_rust/src/bin/dc_driver/dshot.rs | 2 +-
 spinnyboy_rust/src/bin/main.rs            | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/spinnyboy_rust/src/bin/dc_driver/dshot.rs b/spinnyboy_rust/src/bin/dc_driver/dshot.rs
index 7249a05..c5e4a97 100644
--- a/spinnyboy_rust/src/bin/dc_driver/dshot.rs
+++ b/spinnyboy_rust/src/bin/dc_driver/dshot.rs
@@ -323,7 +323,7 @@ impl<'a> DShot<'a> {
                                             let erpm = (60 * 1_000_000) / period_ms;
 
                                             let rpm = erpm/XING_EPRO_22_POLES;
-                                            self.rpm.set(Some(rpm))
+                                            self.rpm.set(Some((rpm as f32 / 1.7) as _))
                                         }
                                     }
                                 }
diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index 834c2da..8905581 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -126,8 +126,8 @@ fn main() -> ! {
     //PID-Controller
     let loop_time = Duration::from_micros(10);
     let cfg = pid::PidConfigBuilder::default()
-    .kp(3.0)
-    .ki(1.0).output_limits(100.00, 2040.00)
+    .kp(2.0)
+    .ki(0.1).output_limits(100.00, 2040.00)
     .sample_time(loop_time)
     .filter_tc(0.1)
     .build()
@@ -137,7 +137,7 @@ fn main() -> ! {
     let set_point = DEFAULT_TARGET_RPM;
     dshot_esc.arm();
     let mut rpm = 0;
-    let mut control: f32 = 200.0;
+    let mut control: f32 = 600.0;
     // let timestamp = Instant::now();
     loop {
         dshot_esc.process();