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capped throttle value to sensible values

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This commit is contained in:
Robert Schauklies 2026-03-14 20:17:49 +01:00
parent d418da5b12
commit c6db09ac2c
1 changed files with 5 additions and 2 deletions
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7
spinnyboy_rust/src/bin/main.rs
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@ -130,7 +130,7 @@ fn main() -> ! {
let cfg = pid::PidConfigBuilder::default() let cfg = pid::PidConfigBuilder::default()
.kp(2.0) .kp(2.0)
.ki(0.0) .ki(0.0)
.output_limits(100.00, 2040.00) .output_limits(100.00, 400.00)
.sample_time(loop_time) .sample_time(loop_time)
.filter_tc(0.1) .filter_tc(0.1)
.build() .build()
@ -227,6 +227,7 @@ fn main() -> ! {
.load_value(esp_hal::time::Duration::from_secs(10)) .load_value(esp_hal::time::Duration::from_secs(10))
.expect("TODO: Could not set timer for coating! "); .expect("TODO: Could not set timer for coating! ");
dshot_esc.arm(); dshot_esc.arm();
let mut rpm_fail_ctr = 0;
coat_timer.start(); coat_timer.start();
while !coat_timer.is_interrupt_set() { while !coat_timer.is_interrupt_set() {
dshot_esc.process(); dshot_esc.process();
@ -240,6 +241,7 @@ fn main() -> ! {
x x
} }
None => { None => {
rpm_fail_ctr+=1;
// rprintln!("NO RPM!"); // rprintln!("NO RPM!");
rpm rpm
} }
@ -256,7 +258,7 @@ fn main() -> ! {
rprintln!("control:{},rpm:{}", control,rpm); rprintln!("control:{},rpm:{}", control,rpm);
//first we send the RPM! //first we send the RPM!
if display.write_ready(){ 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()); display.send_command(running_rpm.to_string().as_bytes());
} }
if display.write_ready(){ if display.write_ready(){
@ -267,6 +269,7 @@ fn main() -> ! {
} }
rprintln!("COATING done!"); rprintln!("COATING done!");
rprintln!("RPM_READ_FAILS {}",rpm_fail_ctr);
started = false; started = false;
display.send_command(b"page page0"); display.send_command(b"page page0");
} }