diff --git a/src/rov/rov_pca9685/src/ServoDriver.cpp b/src/rov/rov_pca9685/src/ServoDriver.cpp
index 241a4dd..5b2878e 100644
--- a/src/rov/rov_pca9685/src/ServoDriver.cpp
+++ b/src/rov/rov_pca9685/src/ServoDriver.cpp
@@ -58,23 +58,6 @@ void ServoDriver::setThrottle(uint8_t channel, float throttle) {
     driver_board.setUS(channel, f2imap(throttle, -1.0, 1.0, s->us_minimum, s->us_maximum));
 }
 
-void ServoDriver::setDuty(uint8_t channel, float duty) {
-    driver_board.setDuty(channel, duty);
-}
-
-void ServoDriver::setUS(uint8_t channel, uint16_t us) {
-    driver_board.setUS(channel, us);
-}
-
-void ServoDriver::setThrottle(uint8_t channel, float throttle) {
-    if (!continuous_servos.count(channel)) {
-        RCLCPP_WARN(rclcpp::get_logger("ServoDriver"), "Attempted to set throttle on non-continuous servo");
-        return;
-    }
-    ContinuousServo* s = &continuous_servos[channel];
-    driver_board.setUS(channel, f2imap(throttle, -1.0, 1.0, s->us_minimum, s->us_maximum));
-}
-
 void ServoDriver::setAngle(uint8_t channel, float angle) {
     if (!servos.count(channel)) {
         RCLCPP_WARN(rclcpp::get_logger("ServoDriver"), "Attempted to set angle on continuous servo");