added max_current

boards/stm32l432kc/src/bin/levitation.rs

@@ -14,16 +14,17 @@ use embassy_time::Instant;
 use {defmt_rtt as _, panic_probe as _};
 
 const MAX_VOLTAGE: f32 = 500.0; // TBD
+const MAX_CURRENT: f32 = 500.0; // TBD
 const TARGET_HEIGHT: f32 = 10.0; // to be determined by levitation
 
-const GAIN_HEIGHT = PidGain{ 
+const GAIN_HEIGHT: PidGain = PidGain{ 
     // to be determined by levitation
     kp: 1.0,
     ki: 0.05,
     kd: 0.005,
 };
 
-const GAIN_CURRENT = PidGain{ 
+const GAIN_CURRENT: PidGain = PidGain{ 
     // to be determined by levitation
     kp: 1.1,
     ki: 0.12,
@@ -56,7 +57,9 @@ async fn main(_spawner: Spawner) {
 
         let output_height_pid = pid_height.update(TARGET_HEIGHT, actual_height, dt);
 
-        let target_current = actual_height + output_height_pid;
+        let mut target_current = actual_height + output_height_pid;
+
+        if target_current >= MAX_CURRENT {target_current = MAX_CURRENT};
 
         let actual_current = 1.0; // we'll get that from a sensor