From 6192627e25df7d5dff054fca2c6b3093fd619e8d Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 5 Mar 2025 12:44:55 -0500
Subject: [PATCH] now using a mosfet, no "center"

---
 controller/src/main.rs | 21 ++++++++++-----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/controller/src/main.rs b/controller/src/main.rs
index 1b6d800..c230b17 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -99,9 +99,9 @@ async fn main(spawner: Spawner) {
     let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, d.clone());
 
     let mut f: pwm::Config = Default::default();
-    f.divider = 40.into();
-    f.top = 62500; // 20ms
-    f.compare_b = 4687; // 1.5ms
+    f.divider = 1.into(); // no reason to slow down, this is going right into a mosfet
+    f.top = u16::MAX;
+    f.compare_b = 0;
     let flip_pwm = Pwm::new_output_b(p.PWM_SLICE0, p.PIN_17, f.clone());
 
     let sda = p.PIN_20;
@@ -295,14 +295,13 @@ async fn main(spawner: Spawner) {
     }
 }
 
-/// -1 to 1
+/// 0 to 1
 fn calc_speed(speed: f32) -> u16 {
-    const COUNTS_PER_MS: f32 = 3125.;
-    let speed = speed.clamp(-1., 1.);
+    let speed = speed.clamp(0., 1.);
 
-    let ms = (speed/2.0)+1.5;
+    let speed = speed * u16::MAX as f32;
 
-    (COUNTS_PER_MS * ms) as u16
+    speed as u16
 }
 
 #[derive(Debug)]
@@ -361,8 +360,8 @@ fn handle_cam(cam: &mut Pwm, state: &mut CamState, limit: &Input) {
 
 
     let mut f: pwm::Config = Default::default();
-    f.divider = 40.into();
-    f.top = 62500; // 20ms
-    f.compare_b = calc_speed(-speed); // 1.5ms
+    f.divider = 1.into();
+    f.top = u16::MAX;
+    f.compare_b = calc_speed(speed);
     cam.set_config(&f);
 }