forking out the whole dc motor logic to a seperate module

spinnyboy_rust/src/bin/dc_driver/afroesc.rs

@@ -0,0 +1,34 @@
+#![no_std]
+
+use esp_hal::aes::Operation;
+use esp_hal::mcpwm::PwmPeripheral;
+use esp_hal::mcpwm::operator::PwmPin;
+use esp_hal::mcpwm::operator::Operator;
+use esp_hal::mcpwm::McPwm;
+use esp_hal::peripherals::MCPWM0;
+
+pub struct AfroEsc<'a>{
+   pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>
+
+}
+const MIN_THROTTLE:u16 = 1121;
+const MAX_THROTTLE:u16 = 1421;
+const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
+
+impl AfroEsc<'_>{
+   pub fn  new<'a>(pwm_pin:&'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>)-> AfroEsc<'a> {
+      AfroEsc{pwm_pin:pwm_pin}
+   }
+   pub fn set_timestamp(&mut self,value:u16){
+      &self.pwm_pin.set_timestamp(value);
+   }
+   //range is from 1121 till 1421
+   pub fn set_duty_percent(&mut self,value:u16){
+      if value > 100 {
+         // failsafe!
+         &self.pwm_pin.set_timestamp(1055);
+      }
+      let new_timestamp = MIN_THROTTLE+value*GAP;
+      &self.pwm_pin.set_timestamp(new_timestamp); 
+   }
+} 

spinnyboy_rust/src/bin/dc_driver/mod.rs

@@ -0,0 +1 @@
+pub mod afroesc;

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 {}
@@ -48,14 +50,13 @@ 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_duty_percent(10);    
+    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