diff --git a/spinnyboy_rust/src/bin/dc_driver/afroesc.rs b/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
index e0aa2b5..9dcf89d 100644
--- a/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
+++ b/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
@@ -1,14 +1,9 @@
-#![no_std]
-
-use esp_hal::aes::Operation;
-use esp_hal::mcpwm::PwmPeripheral;
 use esp_hal::mcpwm::operator::PwmPin;
-use esp_hal::mcpwm::operator::Operator;
-use esp_hal::mcpwm::McPwm;
-use esp_hal::peripherals::MCPWM0;
 use esp_hal::delay::Delay;
+use crate::dc_driver::EscState;
 pub struct AfroEsc<'a>{
-   pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>
+   pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>,
+   state: crate::dc_driver::EscState,
 
 }
 const ARMING_SEQUENCE:u16 = 1055;
@@ -19,13 +14,14 @@ const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
 impl AfroEsc<'_>{
    //this is a little hacky tbh
    pub fn  new<'a>(pwm_pin:&'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>)-> AfroEsc<'a> {
-      let mut esc = AfroEsc{pwm_pin:pwm_pin};
+      let mut esc = AfroEsc{pwm_pin:pwm_pin,state:EscState::Starting};
       let delay = Delay::new();
-      esc.set_arming_sequence(); 
+      esc.send_arming_sequence(); 
       delay.delay_millis(3000);
       esc 
    }
    pub fn set_timestamp(&mut self,value:u16){
+
       self.pwm_pin.set_timestamp(value);
    }
    //range is from 1121 till 1421
@@ -37,8 +33,24 @@ impl AfroEsc<'_>{
       let new_timestamp = MIN_THROTTLE+value*GAP;
       self.pwm_pin.set_timestamp(new_timestamp); 
    }
-   pub fn set_arming_sequence(&mut self){
+   pub fn send_arming_sequence(&mut self){
       self.set_timestamp(1055);
    }
+   fn set_state(&mut self, state:EscState){
+      self.state = state;
+   }
+   pub fn get_state(self) -> EscState{
+      self.state
+   }
+   pub fn map_duty(&mut self, x:i32){
+      if x <=0 {
+       self.pwm_pin.set_timestamp(1055);  
+      }
+      else{
+      let duty:u16 = crate::dc_driver::arduino_map(x, 0, 100, MIN_THROTTLE.into(), MAX_THROTTLE.into()).try_into().expect("INTEGER TOO LARGE");
+      self.pwm_pin.set_timestamp(duty);
+         
+      }
+   }
 
 } 
\ No newline at end of file
diff --git a/spinnyboy_rust/src/bin/dc_driver/mod.rs b/spinnyboy_rust/src/bin/dc_driver/mod.rs
index c2a351f..5ebbfd5 100644
--- a/spinnyboy_rust/src/bin/dc_driver/mod.rs
+++ b/spinnyboy_rust/src/bin/dc_driver/mod.rs
@@ -1 +1,17 @@
-pub mod afroesc;
\ No newline at end of file
+pub mod afroesc;
+
+pub enum EscState {
+    Starting,
+    Running,
+    Stopping,
+    Stop
+    
+}
+//taken from: https://docs.arduino.cc/language-reference/en/functions/math/map/
+//used for the ramp up of the spincoater
+pub fn arduino_map(x:i32, in_min:i32, in_max:i32, out_min:i32, out_max:i32) -> i32 {
+
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+
+} 
+