diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs
index a4fc937..f214d89 100644
--- a/spinnyboy_rust/src/bin/main.rs
+++ b/spinnyboy_rust/src/bin/main.rs
@@ -15,6 +15,8 @@ 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;
 #[panic_handler]
 fn panic(_: &core::panic::PanicInfo) -> ! {
     loop {}
@@ -48,16 +50,15 @@ fn main() -> ! {
         .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
         .unwrap();
     mcpwm.timer0.start(timer_clock_cfg);
-
-    pwm_pin.set_timestamp(1000);
+    let mut esc = AfroEsc::new(&mut pwm_pin);
+    esc.set_timestamp(1000);
     delay.delay_millis(3000); 
-    rprintln!("WUT?");
-    pwm_pin.set_timestamp(1121);
-    delay.delay_millis(1000);    
-    
-    pwm_pin.set_timestamp(1055);
+    esc.set_timestamp(1121);    
     delay.delay_millis(3000);    
-        
+    //1421 is I think the best, makes calculating the throttle easier
+    esc.set_timestamp(1055);
+    delay.delay_millis(3000);    
+
     // Example: Ramp from 0% to 50% throttle
         //the afro esc starts turning at roughly setup gets a PWM at 
     //loop{
diff --git a/spinnyboy_rust/src/lib.rs b/spinnyboy_rust/src/lib.rs
index 0c9ac1a..2e7f0d4 100644
--- a/spinnyboy_rust/src/lib.rs
+++ b/spinnyboy_rust/src/lib.rs
@@ -1 +1 @@
-#![no_std]
+#![no_std]
\ No newline at end of file