firmware/host/modules/motion/scservo-driver.ts (1)

18-56: 📐 Maintainability & Code Quality | 🔵 Trivial | 💤 Low value

Consider extracting shared setAngle branching logic to reduce duplication with rs30x-driver.ts.

The setAngle argument-type branching (lines 29–39) and the setTorque/flashId passthroughs are identical to createCalibrationServo in rs30x-driver.ts, with the only meaningful difference being the time-unit conversion (motionDurationSecondsToMilliseconds vs motionDurationSecondsToCentiseconds). A shared factory accepting the servo-specific setAngle/setAngleInTime methods and a time-conversion function would eliminate this duplication and prevent future divergence.

♻️ Example shared helper

// In a shared module, e.g. motion/calibration-servo.ts
export function createSetAngle(
  setAngle: (angle: number, callback?: MotionCompletion) => void,
  setAngleInTime: (angle: number, time: number, callback?: MotionCompletion) => void,
  convertTime: (duration: MotionDurationSeconds) => number,
): MotionCalibrationServo['setAngle'] {
  return (angle: number, timeOrCallback?: MotionDurationSeconds | MotionCompletion, callback?: MotionCompletion) => {
    if (typeof timeOrCallback === 'function') {
      setAngle(angle, timeOrCallback)
      return
    }
    if (timeOrCallback == null) {
      setAngle(angle, callback)
      return
    }
    setAngleInTime(angle, convertTime(timeOrCallback), callback)
  }
}

Then in each driver:

// scservo-driver.ts
setAngle: createSetAngle(
  (a, cb) => servo.setAngle(a, cb),
  (a, t, cb) => servo.setAngleInTime(a, t, cb),
  motionDurationSecondsToMilliseconds,
),

// rs30x-driver.ts
setAngle: createSetAngle(
  (a, cb) => servo.setAngle(a, cb),
  (a, t, cb) => servo.setAngleInTime(a, t, cb),
  motionDurationSecondsToCentiseconds,
),

🤖 Prompt for AI Agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@firmware/host/modules/motion/scservo-driver.ts` around lines 18 - 56, The
createCalibrationServo implementation in scservo-driver.ts duplicates the same
setAngle branching and passthrough behavior already present in rs30x-driver.ts,
so extract the shared calibration-servo factory into a common helper and reuse
it here. Make the helper accept the servo-specific setAngle and setAngleInTime
methods plus a duration conversion function, then wire scservo-driver.ts to use
motionDurationSecondsToMilliseconds while rs30x-driver.ts uses its existing
centisecond conversion. Keep the existing readAngle, setTorque, flashId,
readOffsetAngle, setOffsetAngle, and saveSettings behavior intact.