adds the code used for the controller demo

ground/src/command.rs

@@ -23,6 +23,7 @@ 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;
+const DRIVE_PRIORITY: u8 = 1;
 
 
 pub struct CommandHandler<'a> {
@@ -66,12 +67,12 @@ impl From<RcsCommand> for SetRcs {
 
 #[derive(IntoCommandDefinition)]
 struct PwmCommand {
-    duty_cycle: u8
+    throttle: f64
 }
 impl From<PwmCommand> for SetPwm {
     fn from(value: PwmCommand) -> Self {
         Self {
-            duty_cycle: value.duty_cycle
+            throttle: value.throttle
         }
     }
 }
@@ -158,10 +159,14 @@ 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<_> {
+                commands.push(self.cmd.register_handler("drive.throttle.set", move |header, cmd: PwmCommand| -> anyhow::Result<_> {
                     trace!("Sending Pwm Set Command");
 
-                    outgoing_commands_tx.try_send_command("/pwm/set", &SetPwm::from(cmd))?;
+                    outgoing_commands_tx.try_send_command("/drive/throttle/set", &ValidPriorityCommand {
+                        inner: SetPwm::from(cmd),
+                        valid_until: header.timestamp + TimeDelta::seconds(5),
+                        priority: DRIVE_PRIORITY,
+                    })?;
 
                     Ok("Command Executed Successfully".to_string())
                 }));