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import math
import strfmt

# The amount of chain that is moved through one full rotation, in meters
const gearCircumference* = math.PI * 0.10

type
  Dir* = enum
    CW, CCW

  MachineState* = object of RootObj
      lpos*: float
      rpos*: float
      ldir*: Dir
      rdir*: Dir
      lenable*: bool
      renable*: bool

  Hal* = object of RootObj
    steprads*: float
    current*: MachineState

  Motion* = object of RootObj
    ln*: uint32
    lhz*: uint32
    rn*: uint32
    rhz*: uint32
    ldir*: Dir
    rdir*: Dir

proc writeformat*(o: var Writer, x: Dir, fmt: Format) =
  writeformat(o, $x, fmt)

proc `$`*(m: Motion): string =
  "[left {0.ln}@{0.lhz}hz, right {0.rn}@{0.rhz}hz]".fmt(m)
proc `$`*(ms: MachineState): string =
  return ("[left p={0.lpos} d={0.ldir} e={0.lenable} " &
          "right p={0.rpos} d={0.rdir} e={0.renable}]").fmt(ms)