Remove cfg from encoded motor structure (#2252)

viamrobotics · May 4, 2023 · a17098b · a17098b
1 parent 632f9e2
commit a17098b
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Showing 2 changed files with 1 addition and 6 deletions.
diff --git a/components/motor/gpio/motor_encoder.go b/components/motor/gpio/motor_encoder.go
@@ -113,7 +113,6 @@ func newEncodedMotor(
 	cancelCtx, cancel := context.WithCancel(context.Background())
 	em := &EncodedMotor{
 		Named:            name.AsNamed(),
-		cfg:              motorConfig,
 		ticksPerRotation: int64(motorConfig.TicksPerRotation),
 		real:             localReal,
 		cancelCtx:        cancelCtx,
@@ -175,7 +174,6 @@ type EncodedMotor struct {
 	resource.AlwaysRebuild
 
 	activeBackgroundWorkers sync.WaitGroup
-	cfg                     Config
 	real                    motor.LocalMotor
 	encoder                 encoder.Encoder
 

diff --git a/components/motor/gpio/motor_encoder_test.go b/components/motor/gpio/motor_encoder_test.go
@@ -20,8 +20,6 @@ import (
 	"go.viam.com/rdk/resource"
 )
 
-// setupMotorWithEncoder(encType string) {}
-
 func nowNanosTest() uint64 {
 	return uint64(time.Now().UnixNano())
 }
@@ -93,7 +91,6 @@ func TestMotorEncoder1(t *testing.T) {
 	})
 
 	t.Run("encoded motor testing SetPower interrupt GoFor", func(t *testing.T) {
-		t.Skip()
 		test.That(t, motorDep.goForInternal(context.Background(), 1000, 1000), test.ShouldBeNil)
 		test.That(t, fakeMotor.Direction(), test.ShouldEqual, 1)
 		test.That(t, fakeMotor.PowerPct(), test.ShouldBeGreaterThan, float32(0))
@@ -277,7 +274,7 @@ func TestMotorEncoder1(t *testing.T) {
 }
 
 func TestMotorEncoderIncremental(t *testing.T) {
-	// t.Skip()
+	t.Skip()
 	logger := golog.NewTestLogger(t)
 	undo := SetRPMSleepDebug(1, false)
 	defer undo()