Remove lidar PWM commands - speed is now auto-tuned by SangamIO

Simplified enable_lidar() to take no parameters and removed
set_lidar_pwm() entirely. Upstream clients now only send
enable/disable commands; lidar speed is auto-tuned in SangamIO.

drishti/drishti.py

@@ -281,16 +281,11 @@ class RobotClient:
         self.send_command(command)
         logger.info(f"Main brush speed set to {speed}%")
 
-    def enable_lidar(self, pwm: int):
-        """
-        Enable lidar with specified PWM speed
-
-        Args:
-            pwm: PWM duty cycle 0-100% (lidar motor speed)
-        """
-        command = {"EnableLidar": {"pwm": max(0, min(100, pwm))}}
+    def enable_lidar(self):
+        """Enable lidar (speed is auto-tuned by SangamIO)"""
+        command = "EnableLidar"
         self.send_command(command)
-        logger.info(f"Lidar enabled at {pwm}% PWM")
+        logger.info("Lidar enabled")
 
     def disable_lidar(self):
         """Disable lidar motor"""
@@ -298,17 +293,6 @@ class RobotClient:
         self.send_command(command)
         logger.info("Lidar disabled")
 
-    def set_lidar_pwm(self, pwm: int):
-        """
-        Set lidar PWM speed (without power cycling)
-
-        Args:
-            pwm: PWM duty cycle 0-100%
-        """
-        command = {"SetLidarPWM": {"pwm": max(0, min(100, pwm))}}
-        self.send_command(command)
-        logger.info(f"Lidar PWM set to {pwm}%")
-
     def emergency_stop(self):
         """Emergency stop all motors and actuators"""
         command = "EmergencyStopAll"