spinnyboy_rust/src/bin/dc_driver/afroesc.rs

@@ -16,7 +16,6 @@ const MAX_THROTTLE:u16 = 1421;
 const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
 
 impl AfroEsc<'_>{
-   //this is a little hacky tbh
    pub fn  new<'a>(pwm_pin:&'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>)-> AfroEsc<'a> {
       AfroEsc{pwm_pin:pwm_pin}
    }

spinnyboy_rust/src/bin/main.rs

@@ -5,17 +5,15 @@
     reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
     holding buffers for the duration of a data transfer."
 )]
-use core::fmt::Write;
-use esp_hal::uart::{Config, Uart};
 
 use esp_hal::clock::CpuClock;
-use esp_hal::delay::Delay;
-use esp_hal::main;
 use esp_hal::mcpwm::operator::PwmPinConfig;
 use esp_hal::mcpwm::timer::PwmWorkingMode;
 use esp_hal::time::Rate;
-use esp_hal::time::{Duration, Instant};
 use esp_hal::timer::timg::TimerGroup;
+use esp_hal::main;
+use esp_hal::time::{Duration, Instant};
+use esp_hal::delay::Delay;
 use rtt_target::rprintln;
 mod dc_driver;
 use dc_driver::afroesc::AfroEsc;
@@ -42,15 +40,12 @@ fn main() -> ! {
     let mut delay = Delay::new();
 
     esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
-    let clock_config =
+    let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
-        esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
     let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
     mcpwm.operator0.set_timer(&mcpwm.timer0);
     let pin = peripherals.GPIO18;
 
-    let mut pwm_pin = mcpwm
+    let mut pwm_pin = mcpwm.operator0.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
-        .operator0
-        .with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
         let timer_clock_cfg = clock_config
         .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
         .unwrap();
@@ -64,16 +59,6 @@ fn main() -> ! {
     esc.set_timestamp(1055);
     delay.delay_millis(3000);    
 
-    let mut uart0 = Uart::new(peripherals.UART0, Config::default().with_baudrate(9600))
-        .unwrap()
-        .with_rx(peripherals.GPIO9)
-        .with_tx(peripherals.GPIO10);
-    uart0.write(b"page page1");
-    uart0.write(b"\xff");
-    uart0.write(b"\xff");
-    uart0.write(b"\xff");
-    uart0.write(b"\xff");
-    rprintln!("WRITE HAPPENED!");
     // Example: Ramp from 0% to 50% throttle
         //the afro esc starts turning at roughly setup gets a PWM at 
     //loop{
@@ -93,6 +78,7 @@ fn main() -> ! {
     loop {
         rprintln!("Hello world!");
     delay.delay_millis(3000);    
+
     }
 
     // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin