clean up dumb stuff

kscaleos/kscaleos/src/bin/run.rs

@@ -1,5 +1,5 @@
-use kscaleos::hello_world;
+use kscaleos::main as kscaleos_main;
 
 fn main() {
-    hello_world();
+    kscaleos_main();
 }

kscaleos/kscaleos/src/config.rs

@@ -1,7 +1,6 @@
 use robstride::MotorType;
 use serde::{Deserialize, Serialize};
 use std::collections::HashMap;
-use std::fs;
 
 #[derive(Serialize, Deserialize, Debug)]
 pub struct MotorConfig {
@@ -28,10 +27,3 @@ pub struct LimbConfig {
 pub struct Config {
     pub limbs: HashMap<Limb, LimbConfig>,
 }
-
-impl Config {
-    pub fn new(config_path: &str) -> Self {
-        let file = fs::File::open(config_path).expect("Failed to open config file");
-        serde_yaml::from_reader(file).expect("Failed to parse config YAML")
-    }
-}

kscaleos/kscaleos/src/lib.rs

@@ -1,83 +1,10 @@
-use robstride::{MotorType, MotorsSupervisor};
-use std::collections::HashMap;
-use std::sync::{Arc, RwLock};
-
 mod config;
 mod runner;
 mod state;
 
-fn main() {
-    let config = config::Config::new("config.yaml");
-    let state = Arc::new(RwLock::new(State::new()));
-
-    // Four motor supervisors, one for each limb.
-    let mut motor_supervisors = vec![];
-    for i in 0..4 {
-        let port_name = format!("/dev/ttyCH341USB{}", i);
-
-        let motor_infos = match i {
-            // Left arm.
-            0 => HashMap::from([
-                (1, MotorType::Type03),
-                (2, MotorType::Type03),
-                (3, MotorType::Type02),
-                (4, MotorType::Type02),
-                (5, MotorType::Type01),
-            ]),
-            // Right arm.
-            1 => HashMap::from([
-                (1, MotorType::Type03),
-                (2, MotorType::Type03),
-                (3, MotorType::Type02),
-                (4, MotorType::Type02),
-                (5, MotorType::Type01),
-            ]),
-            // Left leg.
-            2 => HashMap::from([
-                (1, MotorType::Type04),
-                (2, MotorType::Type03),
-                (3, MotorType::Type03),
-                (4, MotorType::Type03),
-                (5, MotorType::Type01),
-            ]),
-            // Right leg.
-            3 => HashMap::from([
-                (1, MotorType::Type04),
-                (2, MotorType::Type03),
-                (3, MotorType::Type03),
-                (4, MotorType::Type03),
-                (5, MotorType::Type01),
-            ]),
-            _ => {
-                panic!("Invalid limb index: {}", i);
-            }
-        };
-
-        let motor_supervisor =
-            MotorsSupervisor::new(port_name.as_str(), &motor_infos, false, 1000.0, true).unwrap();
-        motor_supervisors.push(motor_supervisor);
-    }
-}
-
-struct State {}
-
-impl State {
-    fn new() -> Self {}
-
-    fn update(&mut self, _input: SensorData, _commands: Commands) {
-        // Update state logic
-    }
-}
-
-fn read_sensors() -> SensorData {
-    // Read from camera and motors
-    SensorData { /* fields */ }
-}
+use runner::run;
+use std::sync::{Arc, RwLock};
 
-fn send_commands(_commands: Commands) {
-    // Interface with motor drivers
+pub fn main() {
+    run(Arc::new(RwLock::new(state::State::new())));
 }
-
-struct SensorData {/* fields */}
-
-struct Commands {/* fields */}

kscaleos/kscaleos/src/runner.rs

@@ -9,10 +9,9 @@ use std::{
 
 use crate::state::State;
 
-pub fn run(state: Arc<RwLock<State>>) {
+pub fn run(_state: Arc<RwLock<State>>) {
     loop {
-        let state = state.read().unwrap();
-        println!("Running main control loop... State: {:?}", state);
-        thread::sleep(Duration::from_millis(10));
+        println!("Running main control loop...");
+        thread::sleep(Duration::from_millis(100));
     }
 }