Remove unused functions

components/motor/gpio/motor_encoder.go

@@ -239,21 +239,6 @@ func (m *EncodedMotor) RPMMonitorCalls() int64 {
 	return atomic.LoadInt64(&m.rpmMonitorCalls)
 }
 
-// IsRegulated returns if the motor is currently regulated or not.
-func (m *EncodedMotor) IsRegulated() bool {
-	m.stateMu.RLock()
-	regulated := m.state.regulated
-	m.stateMu.RUnlock()
-	return regulated
-}
-
-// SetRegulated sets if the motor should be regulated.
-func (m *EncodedMotor) SetRegulated(b bool) {
-	m.stateMu.Lock()
-	defer m.stateMu.Unlock()
-	m.state.regulated = b
-}
-
 func (m *EncodedMotor) fixPowerPct(powerPct float64) float64 {
 	powerPct = math.Min(powerPct, m.maxPowerPct)
 	powerPct = math.Max(powerPct, -1*m.maxPowerPct)
@@ -303,7 +288,7 @@ func (m *EncodedMotor) rpmMonitor() {
 	if err != nil {
 		panic(err)
 	}
-	lastTime := time.Now().UnixNano()
+	lastTime := float64(time.Now().UnixNano())
 
 	rpmSleep, rpmDebug := getRPMSleepDebug()
 	inRamp := false
@@ -331,7 +316,7 @@ func (m *EncodedMotor) rpmMonitor() {
 			}
 			continue
 		}
-		now := time.Now().UnixNano()
+		now := float64(time.Now().UnixNano())
 		if now == lastTime {
 			// this really only happens in testing, b/c we decrease sleep, but nice defense anyway
 			continue
@@ -347,7 +332,7 @@ func (m *EncodedMotor) rpmMonitor() {
 }
 
 // return is if we are in a ramp phase.
-func (m *EncodedMotor) rpmMonitorPass(setPoint, pos, lastPos float64, now, lastTime int64, regulated, rpmDebug bool) bool {
+func (m *EncodedMotor) rpmMonitorPass(setPoint, pos, lastPos, now, lastTime float64, regulated, rpmDebug bool) bool {
 	m.stateMu.Lock()
 	defer m.stateMu.Unlock()
 
@@ -419,12 +404,12 @@ func slowDownMath(timeLeftSeconds, desiredRPM, rampRate float64) float64 {
 	return desiredRPM
 }
 
-func (m *EncodedMotor) computeRPM(pos, lastPos float64, now, lastTime int64) float64 {
+func (m *EncodedMotor) computeRPM(pos, lastPos, now, lastTime float64) float64 {
 	minutes := float64(now-lastTime) / (1e9 * 60)
 	if minutes == 0 {
 		return 0.0
 	}
-	rotations := float64(pos-lastPos) / m.ticksPerRotation
+	rotations := (pos - lastPos) / m.ticksPerRotation
 	return rotations / minutes
 }
 
@@ -447,7 +432,7 @@ func (m *EncodedMotor) computeNewPowerPct(currentRPM, desiredRPM float64) float6
 		// to it, and we'll start moving soon.
 		return m.computeRamp(lastPowerPct, lastPowerPct*2)
 	}
-	dOverC := desiredRPM / currentRPM * m.flip
+	dOverC := desiredRPM / currentRPM
 	dOverC = math.Min(dOverC, 2)
 	dOverC = math.Max(dOverC, -2)
 
@@ -529,11 +514,10 @@ func (m *EncodedMotor) GoFor(ctx context.Context, rpm, revolutions float64, extr
 func (m *EncodedMotor) goForInternal(ctx context.Context, rpm, revolutions float64) error {
 	m.RPMMonitorStart()
 
-	var d float64 = 1
-
+	var d = 1.0
 	// Backwards
 	if math.Signbit(revolutions) != math.Signbit(rpm) {
-		d *= -1
+		d *= -1.0
 	}
 
 	revolutions = math.Abs(revolutions)
@@ -561,7 +545,7 @@ func (m *EncodedMotor) goForInternal(ctx context.Context, rpm, revolutions float
 	if err != nil {
 		return err
 	}
-	m.state.setPoint = pos + d*numTicks*m.flip
+	m.state.setPoint = pos + d*numTicks
 
 	_, rpmDebug := getRPMSleepDebug()
 	if rpmDebug {

components/motor/gpio/motor_encoder_test.go

@@ -64,14 +64,6 @@ func TestMotorEncoder1(t *testing.T) {
 		test.That(t, features[motor.PositionReporting], test.ShouldBeTrue)
 	})
 
-	t.Run("encoded motor testing regulation", func(t *testing.T) {
-		test.That(t, _motor.IsRegulated(), test.ShouldBeFalse)
-		_motor.SetRegulated(true)
-		test.That(t, _motor.IsRegulated(), test.ShouldBeTrue)
-		_motor.SetRegulated(false)
-		test.That(t, _motor.IsRegulated(), test.ShouldBeFalse)
-	})
-
 	t.Run("encoded motor testing SetPower", func(t *testing.T) {
 		test.That(t, _motor.SetPower(context.Background(), .01, nil), test.ShouldBeNil)
 		test.That(t, fakeMotor.Direction(), test.ShouldEqual, 1)