From 86139b997e36807b42d959e23d2eacd926764607 Mon Sep 17 00:00:00 2001
From: workshop2 <simon@colmer.me>
Date: Sat, 9 May 2020 20:37:15 +0100
Subject: [PATCH] Clean up front arm

---
 experiments/servos.ts             |  6 ++---
 psybot-lib/components/frontarm.ts | 37 +++----------------------------
 psybot-lib/psybot.ts              |  3 +--
 3 files changed, 7 insertions(+), 39 deletions(-)

diff --git a/experiments/servos.ts b/experiments/servos.ts
index 3576550..a8f2c55 100644
--- a/experiments/servos.ts
+++ b/experiments/servos.ts
@@ -4,16 +4,16 @@ var config = require('../config/config');
 const run = async () => {
   var psybot = await Psybot.Create(config.settings.usbConnection);
   await psybot.frontArm.centerAsync();
-  await psybot.frontArm.faceUpAsync();
+  //await psybot.frontArm.faceUpAsync();
   await psybot.frontArm.centerAsync();
-  await psybot.frontArm.faceDownAsync();
+  //await psybot.frontArm.faceDownAsync();
   await psybot.frontArm.centerAsync();
   await psybot.frontArm.faceLeftAsync();
   await psybot.frontArm.centerAsync();
   await psybot.frontArm.faceRightAsync();
   await psybot.frontArm.centerAsync();
   await psybot.frontArm.sweepLeftAsync();
-  await psybot.frontArm.sweepUpDownAsync();
+  //await psybot.frontArm.sweepUpDownAsync();
 }
 
 run();
\ No newline at end of file
diff --git a/psybot-lib/components/frontarm.ts b/psybot-lib/components/frontarm.ts
index 29d706b..a86ad08 100644
--- a/psybot-lib/components/frontarm.ts
+++ b/psybot-lib/components/frontarm.ts
@@ -3,57 +3,31 @@ import delay from "../delay"
 
 export class FrontArm {
   private bottomServo: Servo;
-  //private topServo: Servo;
-  private operationTimeout: number = 400;
+  private operationTimeout: number = 600;
 
-  constructor(bottomServoPin: number, topServoPin: number) {
+  constructor(bottomServoPin: number) {
     this.bottomServo = new Servo({
       pin: bottomServoPin,
       range: [40, 180],
       center: true
     });
 
-    // this.topServo = new Servo({
-    //   pin: topServoPin,
-    //   range: [40, 140],
-    //   center: true
-    // });
-
     this.centerAsync();
   }
 
   public async stopAsync(): Promise<void> {
-    //this.topServo.stop();
     this.bottomServo.stop();
 
     await delay(this.operationTimeout);
   }
 
-  public async stopBottomAsync(): Promise<void> {
+  private async stopBottomAsync(): Promise<void> {
     this.bottomServo.stop();
     await delay(this.operationTimeout);
   }
 
-  public async stopTopAsync(): Promise<void> {
-    //this.topServo.stop();
-    await delay(this.operationTimeout);
-  }
-
   public async centerAsync(): Promise<void> {
     this.bottomServo.center();
-    //this.topServo.center();
-
-    await delay(this.operationTimeout);
-  }
-
-  public async faceUpAsync(): Promise<void> {
-    //this.topServo.min();
-
-    await delay(this.operationTimeout);
-  }
-
-  public async faceDownAsync(): Promise<void> {
-    //this.topServo.max();
 
     await delay(this.operationTimeout);
   }
@@ -68,11 +42,6 @@ export class FrontArm {
     await delay(this.operationTimeout);
   }
 
-  public async sweepUpDownAsync(sweepOptions?: ServoSweepOpts): Promise<void> {
-    await this.stopTopAsync();
-    //this.topServo.sweep(sweepOptions);
-  }
-
   public async sweepLeftAsync(sweepOptions?: ServoSweepOpts): Promise<void> {
     await this.stopBottomAsync();
     this.bottomServo.sweep(sweepOptions);
diff --git a/psybot-lib/psybot.ts b/psybot-lib/psybot.ts
index 90039a4..e9b5dd5 100644
--- a/psybot-lib/psybot.ts
+++ b/psybot-lib/psybot.ts
@@ -61,8 +61,7 @@ export class Psybot {
   get frontArm(): FrontArm {
     if (!this._frontArm) {
       this._frontArm = new FrontArm(
-        this.armPins.bottomServoPin,
-        this.armPins.topServoPin);
+        this.armPins.bottomServoPin);
     }
 
     return this._frontArm;