From 266f09c4b146717e17e4697e9732d44ef9638c25 Mon Sep 17 00:00:00 2001
From: Robert Schauklies <robert.schauklies@posteo.de>
Date: Sun, 28 Dec 2025 18:37:49 +0100
Subject: [PATCH] adds arming sequence for the AfroESC

---
 spinnyboy_rust/src/bin/dc_driver/afroesc.rs | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/spinnyboy_rust/src/bin/dc_driver/afroesc.rs b/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
index 950382a..9a3b543 100644
--- a/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
+++ b/spinnyboy_rust/src/bin/dc_driver/afroesc.rs
@@ -6,11 +6,12 @@ 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;
 pub struct AfroEsc<'a>{
    pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>
 
 }
+const ARMING_SEQUENCE:u16 = 1055;
 const MIN_THROTTLE:u16 = 1121;
 const MAX_THROTTLE:u16 = 1421;
 const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
@@ -18,7 +19,11 @@ 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> {
-      AfroEsc{pwm_pin:pwm_pin}
+      let mut esc = AfroEsc{pwm_pin:pwm_pin};
+      let delay = Delay::new();
+      esc.set_arming_sequence(); 
+      delay.delay_millis(3000);
+      esc 
    }
    pub fn set_timestamp(&mut self,value:u16){
       &self.pwm_pin.set_timestamp(value);
@@ -32,4 +37,8 @@ impl AfroEsc<'_>{
       let new_timestamp = MIN_THROTTLE+value*GAP;
       &self.pwm_pin.set_timestamp(new_timestamp); 
    }
+   pub fn set_arming_sequence(&mut self){
+      &self.set_timestamp(1055);
+   }
+
 } 
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