mikkeli
26d5e3cbe4
--calibrate SESSION [--write]: down from two level stretches (turning round cancels the slope), forward from straight pull-aways and stops; saved to /var/lib/yukart/imu/mount.json (StateDirectory), which the service reloads on change. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
23 lines
780 B
Desktop File
23 lines
780 B
Desktop File
[Unit]
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Description=Yukart imu: the WT61 on a USB-UART adapter, as the car's motion on the bus
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Documentation=http://pi5-16:3005/yukart/svc-core
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# Tier 2. Ordered after the broker and nothing else: it finds the adapter by itself,
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# whenever it appears.
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After=mosquitto.service
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StartLimitIntervalSec=0
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[Service]
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User=mikkeli
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# USB serial adapters belong to dialout: the one right it needs, no sudo.
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SupplementaryGroups=dialout
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# /var/lib/yukart/imu, owned by the service user: the measured mounting (mount.json),
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# written by `yukart-imu --calibrate SESSION --write`. Until one exists, the defaults
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# (module flat, Y forward) or --forward/--right apply.
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StateDirectory=yukart/imu
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ExecStart=/usr/local/bin/yukart-imu
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Restart=always
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RestartSec=2
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[Install]
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WantedBy=multi-user.target
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