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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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49
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::{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!");