diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index 834c2da..8219eef 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -43,12 +43,16 @@ use crate::dc_driver::dshot;
 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;
 #[panic_handler]
 fn panic(panic: &core::panic::PanicInfo) -> ! {
     rprintln!("{}",panic.message());
     let trace = Backtrace::capture();
     loop {
-        // rprintln!("{}",panic.location().unwrap())
+        rprintln!("{}",panic.location().unwrap())
     }
 }
 use alloc::format;
@@ -138,8 +142,13 @@ fn main() -> ! {
     dshot_esc.arm();
     let mut rpm = 0;
     let mut control: f32 = 200.0;
-    // let timestamp = Instant::now();
-    loop {
+    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() {
         dshot_esc.process();
         //let control_val = dc_driver::
         //this bad boy needs floats, this will be fun :)
@@ -150,7 +159,7 @@ fn main() -> ! {
                 x
             }
             None => {
-                rprintln!("NO RPM!");
+                // rprintln!("NO RPM!");
                 rpm
             }
         };
@@ -160,9 +169,10 @@ fn main() -> ! {
         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!"); 
-        rprintln!("control:{},rpm:{}", control,rpm);
+        // rprintln!("control:{},rpm:{}", control,rpm);
     }
-
+    rprintln!("Coating done!");
+    dshot_esc.set_throttle(0);
     // rprintln!("RMT SENT!");
     // let mut esc = AfroEsc::new(&mut pwm_pin);;
     // esc.set_timestamp(1000);