remove GetType from controllable

components/base/sensorcontrolled/velocities.go

@@ -150,8 +150,3 @@ func (sb *sensorBase) State(ctx context.Context) ([]float64, error) {
 	}
 	return []float64{linvel.Y, angvel.Z}, nil
 }
-
-// GetType returns that the controllable type is base
-func (cm *sensorBase) GetType() string {
-	return "base"
-}

components/motor/gpio/controlled.go

@@ -37,11 +37,6 @@ func (cm *controlledMotor) State(ctx context.Context) ([]float64, error) {
 	return []float64{pos}, err
 }
 
-// GetType returns that the controllable type is motor
-func (cm *controlledMotor) GetType() string {
-	return "motor"
-}
-
 // updateControlBlockPosVel updates the trap profile and the constant set point for position and velocity control.
 func (cm *controlledMotor) updateControlBlock(ctx context.Context, setPoint, maxVel float64) error {
 	// Update the Trapezoidal Velocity Profile block with the given maxVel for velocity control

control/control.go

@@ -12,8 +12,6 @@ type Controllable interface {
 	SetState(ctx context.Context, state []*Signal) error
 	// Position returns the current encoder count value
 	State(ctx context.Context) ([]float64, error)
-	// Type returns if the controllable is a base or a motor
-	GetType() string
 }
 
 // Config configuration of the control loop.

control/endpoint.go

@@ -30,7 +30,6 @@ func (e *endpoint) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*
 	e.mu.Lock()
 	defer e.mu.Unlock()
 	e.logger.CDebugf(ctx, "z length %v", len(x))
-	e.logger.CDebugf(ctx, "controllable type is %v", e.ctr.GetType())
 	switch len(x) {
 	case 1, 2:
 		if e.ctr != nil {