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| author | Paul Oliver <contact@pauloliver.dev> | 2026-01-03 16:05:41 +0000 |
|---|---|---|
| committer | Paul Oliver <contact@pauloliver.dev> | 2026-01-03 19:53:59 +0000 |
| commit | e2d8f74823c7139ce1ccd0831876e361fcd6c419 (patch) | |
| tree | f52c49dce7a064d60882a89a895fbbbaecd9a3b2 /hsm-drive/Hsm/Drive.hs | |
| parent | 81c97deaf7bd984a704db28f0cd676530a7b443e (diff) | |
Adds motor control to frontendgstreamer_webrtc
Diffstat (limited to 'hsm-drive/Hsm/Drive.hs')
| -rw-r--r-- | hsm-drive/Hsm/Drive.hs | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/hsm-drive/Hsm/Drive.hs b/hsm-drive/Hsm/Drive.hs index 0114f4c..3f6a071 100644 --- a/hsm-drive/Hsm/Drive.hs +++ b/hsm-drive/Hsm/Drive.hs @@ -40,12 +40,12 @@ data Direction | SW | W | NW - deriving Show + deriving (Read, Show) data Angle = CCW | CW - deriving Show + deriving (Read, Show) data Speed = Slow8 @@ -54,7 +54,7 @@ data Speed | Slow | Fast | Top - deriving Show + deriving (Read, Show) type Duration = Float @@ -62,7 +62,7 @@ data Action = Move Direction Speed Duration | Tilt Angle Speed Duration | Stop Duration - deriving Show + deriving (Read, Show) -- Maps a `Speed` value to a corresponding PWM cycle duration. -- It assumes a stepper motor with 200 steps per revolution, using a 1/16 @@ -117,7 +117,7 @@ step = PWM3 -- Executes a sequence of drive actions with interruption support -- Wakes motors from SLEEP mode during execution and guarantees return to SLEEP -- mode upon completion or interruption. -drive :: (GPIO :> es, IOE :> es, Logs '["drive", "gpio", "pwm"] es, PWM :> es) => [Action] -> Eff es () +drive :: (GPIO :> es, Logs '["drive", "gpio", "pwm"] es, PWM :> es) => [Action] -> Eff es () drive actions = bracket_ awaken sleep . handle handler . forM_ actions $ \action -> do logMsg @"drive" Trace $ "Running action: " <> show action |