Fix motor control

control/MotorServer.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 from threading import Timer, Thread
-from gpiozero import Servo, Device
 from concurrent import futures
 import time
 
@@ -10,7 +9,6 @@ import grpc
 import control.motorService_pb2 as motorService_pb2
 import control.motorService_pb2_grpc as motorService_pb2_grpc
 from control.gpiozero.vehicle import Vehicle
-from control.gpiozero.mockvehicle import MockVehicle
 from slam.slam_servicer import SlamServicer
 import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
 import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
@@ -25,11 +23,10 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def SetThrottle(self, request, context):
         # gRPC streams currently don't work between python and android.
         # If we don't get a response every 3 seconds, stop the car.
-        throttleFailed = False
         print('Setting throttle to: ' + str(request.throttle))
         self.set_timeout(3)
-        throttleFailed = self.vehicle.set_throttle(request.throttle)
-        return motorService_pb2.ThrottleResponse(throttleSet=throttleFailed)
+        self.vehicle.throttle = request.throttle
+        return motorService_pb2.ThrottleResponse(throttleSet=True)
 
     def SetSteering(self, request, context):
         print('Setting steering to: ' + str(request.steering))