remove redundant motor file

import scipy.integrate

import numpy as np

from vehicle import MotorParams, SimulationParams

"""

This Script simulates a motor object class that can receive a voltage or current amount and

convert voltage into an angular speed based on the specifications of the 

Tarot T18 Octocopter motor model.

"""

class Motor:

	def __init__(self, params: MotorParams, simulation: SimulationParams):

		self.params = params

		self.simulation = simulation

		self.reset()

	def step(self, voltage: float) -> float:

		# ----------------------------

		# 		UPDATE

		# Returns a motor's angular velocity moving one step in time 

		# with a given voltage. Takes in as parameters, voltage and sample rate

		# ----------------------------

		self.t += self.simulation.dt

		self.v = voltage

		self.ode.set_initial_value(self.omega, 0)

		self.speed = self.ode.integrate(self.ode.t + self.simulation.dt)

		return self.speed

	def omega_dot_i(self, time, state):

		# ----------------------------

		#		OMEGA_DOT_I

		# Helper Method to calculate omega_dot for our ode integrator.

		# Can be written as a lambda function inside update for other shorter motors

		# ----------------------------

		rpm = self.speed * 30 / np.pi

		t1 = self.motor_constant / self.params.r * self.v

		t2 = -((2.138e-08)*rpm**2 + (-1.279e-05)*rpm)

		t3 = -(self.params.k_m * self.params.k_q / self.params.r * self.speed)

		dspeed = (t1 + t2 + t3) / self.params.moment_of_inertia

		return dspeed

	def reset(self):

		self.ode = scipy.integrate.ode(self.omega_dot_i).set_integrator('vode', method='bdf')

		self.t = 0.

		self.speed = 0.

		return self.speed