def drive_vel_cmd_callback(channel, msg):
# set the odrive's velocity to the float specified in the message
# no state change
global speed_lock, odrive_bridge
try:
cmd = DriveVelCmd.decode(msg)
if (odrive_bridge.get_state_string() == "ArmedState"):
global left_speed, right_speed
speed_lock.acquire()
left_speed, right_speed = cmd.left, cmd.right
speed_lock.release()
except Exception:
pass
def drive_vel_cmd_callback(channel, msg):
# set the odrive's velocity to the float specified in the message
# no state change
global speedlock
global odrive_bridge
try:
cmd = DriveVelCmd.decode(msg)
if (odrive_bridge.get_state() == "ArmedState"):
global left_speed
global right_speed
speedlock.acquire()
left_speed = cmd.left
right_speed = cmd.right
speedlock.release()
except NameError:
print("waiting to find odrive")
