def __init__(self):
#Use the 'motor_twist' topic
rospy.Subscriber('motor_twist', Twist, self.callback)
self.speed_offset = 0.95
#Create two objects from the classes MotorSpeedLeft and MotorSpeedRight which exist in me416_utilities
self.L_motor = mu.MotorSpeedLeft()
self.R_motor = mu.MotorSpeedRight(self.speed_offset)
#To adjust the variables before actually setting the motors
self.setRight = 0
self.setLeft = 0
def __init__(self):
#Use the 'motor_twist' topic
rospy.Subscriber('motor_twist', Twist, self.callback)
#Change this speed_offset if the robot is turning while both motors are set to the same value
self.speed_offset = 1
#Create two objects from the classes MotorSpeedLeft and MotorSpeedRight which exist in me416_utilities
self.L_motor=mu.MotorSpeedLeft()
self.R_motor=mu.MotorSpeedRight(self.speed_offset)
#To adjust the variables before actually setting the motors
self.setRight = 0
self.setLeft = 0
def __init__(self):
# Set up publishers and subscribers
self.pub = rospy.Publisher('motor_speeds',
MotorSpeedsStamped,
queue_size=10)
self.sub = rospy.Subscriber('robot_twist',
Twist,
callback=self.twist_callback,
queue_size=10)
# Set up the motor feedback object
self.motor_cmd = MotorSpeedsStamped()
# Set up the motor objects with an offset for the right motor
self.speed_offset = 0.84
self.L_motor = mu.MotorSpeedLeft()
self.R_motor = mu.MotorSpeedRight(self.speed_offset)
#!/usr/bin/env python
import me416_utilities as mu
# The motors will most likely not spin exactly at the same speed, this is a simple factor to attempt to account for this.
# multiply the faster motor by this offset.
speed_offset = 0.95
L_motor=mu.MotorSpeedLeft(speed_offset)
R_motor=mu.MotorSpeedRight()
def main():
L_motor.set_speed(0.0)
R_motor.set_speed(0.0)
if __name__ == '__main__':
main()