From c6db09ac2c27e49f67e48a442f1d79ba2d597332 Mon Sep 17 00:00:00 2001
From: Robert Schauklies <robert.schauklies@posteo.de>
Date: Sat, 14 Mar 2026 20:17:49 +0100
Subject: [PATCH] capped throttle value to sensible values

---
 spinnyboy_rust/src/bin/main.rs | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index b2501a2..5faba26 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -130,7 +130,7 @@ fn main() -> ! {
     let cfg = pid::PidConfigBuilder::default()
         .kp(2.0)
         .ki(0.0)
-        .output_limits(100.00, 2040.00)
+        .output_limits(100.00, 400.00)
         .sample_time(loop_time)
         .filter_tc(0.1)
         .build()
@@ -227,6 +227,7 @@ fn main() -> ! {
                 .load_value(esp_hal::time::Duration::from_secs(10))
                 .expect("TODO: Could not set timer for coating! ");
             dshot_esc.arm();
+            let mut rpm_fail_ctr = 0;
             coat_timer.start();
             while !coat_timer.is_interrupt_set() {
                 dshot_esc.process();
@@ -240,6 +241,7 @@ fn main() -> ! {
                         x
                     }
                     None => {
+                        rpm_fail_ctr+=1;
                         // rprintln!("NO RPM!");
                         rpm
                     }
@@ -256,7 +258,7 @@ fn main() -> ! {
                 rprintln!("control:{},rpm:{}", control,rpm);
                 //first we send the RPM!
                 if display.write_ready(){
-                    let running_rpm = format!("running_rpm.val={}", rpm);
+                    let running_rpm = format!("rpm.val={}", rpm);
                     display.send_command(running_rpm.to_string().as_bytes());
                 }
                 if display.write_ready(){
@@ -267,6 +269,7 @@ fn main() -> ! {
             }
 
             rprintln!("COATING done!");
+            rprintln!("RPM_READ_FAILS {}",rpm_fail_ctr);
             started = false;
             display.send_command(b"page page0");
         }