From 2d8de20d576b1f60a932f70772c1f6a805f6c0fa Mon Sep 17 00:00:00 2001
From: Robert Schauklies <robert.schauklies@posteo.de>
Date: Sat, 7 Mar 2026 21:04:12 +0100
Subject: [PATCH] slight refactoring, also fuck that

---
 spinnyboy_rust/src/bin/main.rs | 49 +++++++++++++++++-----------------
 1 file changed, 25 insertions(+), 24 deletions(-)

diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index 8219eef..550e0d4 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -12,18 +12,18 @@ use esp_hal::delay::Delay;
 use esp_hal::uart::{Config, Uart};
 use esp_hal::{gpio, main};
 
+use core::fmt::Debug;
 use esp_hal::gpio::{Event, OutputConfig};
 use esp_hal::gpio::{Input, InputConfig};
 use esp_hal::handler;
 use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator};
-use esp_hal::time::{ Instant, Rate};
-use core::fmt::Debug;
+use esp_hal::time::{Instant, Rate};
 //pid-controller
 use core::time::Duration;
 use discrete_pid::pid::PidContext;
+use discrete_pid::time::InstantLike;
 use discrete_pid::time::Millis;
 use discrete_pid::{pid, time};
-use discrete_pid::time::InstantLike;
 
 use core::cell::RefCell;
 use core::mem::forget;
@@ -44,15 +44,15 @@ use crate::peripherals::ErrCommand;
 use esp_hal::rmt::RxChannelConfig;
 use esp_hal::rmt::RxChannelCreator;
 
-use esp_hal::timer::timg::TimerGroup;
 use esp_hal::timer::OneShotTimer;
 use esp_hal::timer::Timer;
+use esp_hal::timer::timg::TimerGroup;
 #[panic_handler]
 fn panic(panic: &core::panic::PanicInfo) -> ! {
-    rprintln!("{}",panic.message());
+    rprintln!("{}", panic.message());
     let trace = Backtrace::capture();
     loop {
-        rprintln!("{}",panic.location().unwrap())
+        rprintln!("{}", panic.location().unwrap())
     }
 }
 use alloc::format;
@@ -82,8 +82,6 @@ impl InstantLike for Time {
     }
 }
 
-
-
 #[main]
 fn main() -> ! {
     // generator version: 1.0.1
@@ -130,25 +128,26 @@ 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)
-    .sample_time(loop_time)
-    .filter_tc(0.1)
-    .build()
-    .expect("Failed to build a PID configuration");
-    let controller = pid::FuncPidController::new(cfg);  
+        .kp(3.0)
+        .ki(1.0)
+        .output_limits(100.00, 2040.00)
+        .sample_time(loop_time)
+        .filter_tc(0.1)
+        .build()
+        .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;
     dshot_esc.arm();
     let mut rpm = 0;
     let mut control: f32 = 200.0;
     let mut timg0 = TimerGroup::new(peripherals.TIMG0);
-    let timer0 = timg0.timer0;
-    // let now =timer.now();
-    //we need the explicit type here!
-    timer0.load_value(esp_hal::time::Duration::from_secs(10));
-    timer0.start();
-    while !timer0.is_interrupt_set() {
+    let coat_timer = timg0.timer0;
+    let _ = coat_timer
+        .load_value(esp_hal::time::Duration::from_secs(10))
+        .expect("TODO: Could not set timer for coating! ");
+    coat_timer.start();
+    while !coat_timer.is_interrupt_set() {
         dshot_esc.process();
         //let control_val = dc_driver::
         //this bad boy needs floats, this will be fun :)
@@ -165,10 +164,12 @@ fn main() -> ! {
         };
         // rprintln!("RPM:{}",rpm);
         let last_time = esp_hal::time::Instant::now();
-     
-        let timestamp = esp_hal::time::Instant::now().duration_since_epoch().as_millis();
+
+        let timestamp = esp_hal::time::Instant::now()
+            .duration_since_epoch()
+            .as_millis();
         (control, ctx) = controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None);
-        let dumped_context = ctx.last_time().expect("LAST TIME!"); 
+        let dumped_context = ctx.last_time().expect("LAST TIME!");
         // rprintln!("control:{},rpm:{}", control,rpm);
     }
     rprintln!("Coating done!");