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slight refactoring, also fuck that

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This commit is contained in:
Robert Schauklies 2026-03-07 21:04:12 +01:00
parent 94f28e0034
commit 2d8de20d57
1 changed files with 25 additions and 24 deletions
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33
spinnyboy_rust/src/bin/main.rs
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@ -12,18 +12,18 @@ use esp_hal::delay::Delay;
use esp_hal::uart::{Config, Uart}; use esp_hal::uart::{Config, Uart};
use esp_hal::{gpio, main}; use esp_hal::{gpio, main};
use core::fmt::Debug;
use esp_hal::gpio::{Event, OutputConfig}; use esp_hal::gpio::{Event, OutputConfig};
use esp_hal::gpio::{Input, InputConfig}; use esp_hal::gpio::{Input, InputConfig};
use esp_hal::handler; use esp_hal::handler;
use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator}; use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator};
use esp_hal::time::{ Instant, Rate}; use esp_hal::time::{Instant, Rate};
use core::fmt::Debug;
//pid-controller //pid-controller
use core::time::Duration; use core::time::Duration;
use discrete_pid::pid::PidContext; use discrete_pid::pid::PidContext;
use discrete_pid::time::InstantLike;
use discrete_pid::time::Millis; use discrete_pid::time::Millis;
use discrete_pid::{pid, time}; use discrete_pid::{pid, time};
use discrete_pid::time::InstantLike;
use core::cell::RefCell; use core::cell::RefCell;
use core::mem::forget; use core::mem::forget;
@ -44,15 +44,15 @@ use crate::peripherals::ErrCommand;
use esp_hal::rmt::RxChannelConfig; use esp_hal::rmt::RxChannelConfig;
use esp_hal::rmt::RxChannelCreator; use esp_hal::rmt::RxChannelCreator;
use esp_hal::timer::timg::TimerGroup;
use esp_hal::timer::OneShotTimer; use esp_hal::timer::OneShotTimer;
use esp_hal::timer::Timer; use esp_hal::timer::Timer;
use esp_hal::timer::timg::TimerGroup;
#[panic_handler] #[panic_handler]
fn panic(panic: &core::panic::PanicInfo) -> ! { fn panic(panic: &core::panic::PanicInfo) -> ! {
rprintln!("{}",panic.message()); rprintln!("{}", panic.message());
let trace = Backtrace::capture(); let trace = Backtrace::capture();
loop { loop {
rprintln!("{}",panic.location().unwrap()) rprintln!("{}", panic.location().unwrap())
} }
} }
use alloc::format; use alloc::format;
@ -82,8 +82,6 @@ impl InstantLike for Time {
} }
} }
#[main] #[main]
fn main() -> ! { fn main() -> ! {
// generator version: 1.0.1 // generator version: 1.0.1
@ -131,7 +129,8 @@ fn main() -> ! {
let loop_time = Duration::from_micros(10); let loop_time = Duration::from_micros(10);
let cfg = pid::PidConfigBuilder::default() let cfg = pid::PidConfigBuilder::default()
.kp(3.0) .kp(3.0)
.ki(1.0).output_limits(100.00, 2040.00) .ki(1.0)
.output_limits(100.00, 2040.00)
.sample_time(loop_time) .sample_time(loop_time)
.filter_tc(0.1) .filter_tc(0.1)
.build() .build()
@ -143,12 +142,12 @@ fn main() -> ! {
let mut rpm = 0; let mut rpm = 0;
let mut control: f32 = 200.0; let mut control: f32 = 200.0;
let mut timg0 = TimerGroup::new(peripherals.TIMG0); let mut timg0 = TimerGroup::new(peripherals.TIMG0);
let timer0 = timg0.timer0; let coat_timer = timg0.timer0;
// let now =timer.now(); let _ = coat_timer
//we need the explicit type here! .load_value(esp_hal::time::Duration::from_secs(10))
timer0.load_value(esp_hal::time::Duration::from_secs(10)); .expect("TODO: Could not set timer for coating! ");
timer0.start(); coat_timer.start();
while !timer0.is_interrupt_set() { while !coat_timer.is_interrupt_set() {
dshot_esc.process(); dshot_esc.process();
//let control_val = dc_driver:: //let control_val = dc_driver::
//this bad boy needs floats, this will be fun :) //this bad boy needs floats, this will be fun :)
@ -166,7 +165,9 @@ fn main() -> ! {
// rprintln!("RPM:{}",rpm); // rprintln!("RPM:{}",rpm);
let last_time = esp_hal::time::Instant::now(); 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); (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!("control:{},rpm:{}", control,rpm);