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put coating logic into the main loop of the display

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This commit is contained in:
Robert Schauklies 2026-03-11 21:10:17 +01:00
parent 2d8de20d57
commit db90f6dc0c
1 changed files with 46 additions and 33 deletions
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79
spinnyboy_rust/src/bin/main.rs
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@ -143,38 +143,7 @@ fn main() -> ! {
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 coat_timer = timg0.timer0; 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 :)
dshot_esc.set_throttle(control as _);
rpm = match dshot_esc.get_rpm() {
Some(x) => {
// rprintln!("GOT RPM {}", x);
x
}
None => {
// rprintln!("NO RPM!");
rpm
}
};
// rprintln!("RPM:{}",rpm);
let last_time = esp_hal::time::Instant::now();
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!("Coating done!");
dshot_esc.set_throttle(0); dshot_esc.set_throttle(0);
// rprintln!("RMT SENT!");
// let mut esc = AfroEsc::new(&mut pwm_pin);; // let mut esc = AfroEsc::new(&mut pwm_pin);;
// esc.set_timestamp(1000); // esc.set_timestamp(1000);
// delay.delay_millis(3000); // delay.delay_millis(3000);
@ -207,7 +176,7 @@ fn main() -> ! {
.with_rx(peripherals.GPIO5) .with_rx(peripherals.GPIO5)
.with_tx(peripherals.GPIO7); .with_tx(peripherals.GPIO7);
let mut display = Nextion::new(&mut uart0); let mut display = Nextion::new(&mut uart0);
//we just set it to page0 to be sure
display.send_command(b"page page0"); display.send_command(b"page page0");
let mut _rpm = DEFAULT_TARGET_RPM; let mut _rpm = DEFAULT_TARGET_RPM;
let mut _timer = DEFAULT_SPIN_TIME; let mut _timer = DEFAULT_SPIN_TIME;
@ -220,6 +189,7 @@ fn main() -> ! {
} }
Ok(Command::Start) => { Ok(Command::Start) => {
rprintln!("START"); rprintln!("START");
display.send_command(b"page page2");
started = true; started = true;
} }
Ok(Command::Stop) => { Ok(Command::Stop) => {
@ -246,12 +216,55 @@ fn main() -> ! {
Err(ErrCommand::ReadError) => { Err(ErrCommand::ReadError) => {
rprintln!("READ FAILED!"); rprintln!("READ FAILED!");
} }
_ => {
rprintln!("This should never happen!")
}
} }
// display.send_command(b"page page0"); // display.send_command(b"page page0");
} }
if started { if started {
rprintln!("STARTING!");
// spincoater.armed(); // spincoater.armed();
rprintln!("STARTING!") 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 :)
dshot_esc.set_throttle(control as _);
rpm = match dshot_esc.get_rpm() {
Some(x) => {
// rprintln!("GOT RPM {}", x);
x
}
None => {
// rprintln!("NO RPM!");
rpm
}
};
// rprintln!("RPM:{}",rpm);
let last_time = esp_hal::time::Instant::now();
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);
//first we send the RPM!
let running_rpm = format!("running_rpm.val={}", rpm);
display.send_command(running_rpm.to_string().as_bytes());
let counter = format!("counter.val={}", 1234);
display.send_command(counter.to_string().as_bytes());
}
rprintln!("COATING done!");
started = false;
display.send_command(b"page page0");
} }
} }
} }