adds initial motor bravo implementation

ground/src/command.rs

@@ -18,8 +18,12 @@ use tokio::select;
 use tokio::sync::RwLock;
 use tokio::sync::mpsc::{Sender, channel};
 use tokio_util::sync::CancellationToken;
+use nautilus_common::command::set_pwm::SetPwm;
 
 const MAX_DATETIME: DateTime<Utc> = DateTime::from_timestamp_nanos(i64::MAX);
+const PIN_PRIORITY: u8 = 1;
+const RCS_PRIORITY: u8 = 1;
+
 
 pub struct CommandHandler<'a> {
     cmd: CommandRegistry,
@@ -60,6 +64,18 @@ impl From<RcsCommand> for SetRcs {
     }
 }
 
+#[derive(IntoCommandDefinition)]
+struct PwmCommand {
+    duty_cycle: u8
+}
+impl From<PwmCommand> for SetPwm {
+    fn from(value: PwmCommand) -> Self {
+        Self {
+            duty_cycle: value.duty_cycle
+        }
+    }
+}
+
 impl<'a> CommandHandler<'a> {
     pub fn new(
         client: Arc<Client>,
@@ -101,7 +117,7 @@ impl<'a> CommandHandler<'a> {
                                 &ValidPriorityCommand {
                                     inner: SetPin::from(cmd),
                                     valid_until: MAX_DATETIME,
-                                    priority: 0,
+                                    priority: PIN_PRIORITY,
                                 }
                             )?;
 
@@ -132,7 +148,7 @@ impl<'a> CommandHandler<'a> {
                         &ValidPriorityCommand {
                             inner: SetRcs::from(cmd),
                             valid_until: header.timestamp + TimeDelta::seconds(5),
-                            priority: 0,
+                            priority: RCS_PRIORITY,
                         }
                     )?;
 
@@ -140,6 +156,17 @@ impl<'a> CommandHandler<'a> {
                 }));
             }
 
+            {
+                let outgoing_commands_tx = outgoing_commands_tx.clone();
+                commands.push(self.cmd.register_handler("pwm.set", move |_, cmd: PwmCommand| -> anyhow::Result<_> {
+                    trace!("Sending Pwm Set Command");
+
+                    outgoing_commands_tx.try_send_command("/pwm/set", &SetPwm::from(cmd))?;
+
+                    Ok("Command Executed Successfully".to_string())
+                }));
+            }
+
             // We no longer need this
             drop(outgoing_commands_tx);