def writeDirection(self,direction): rospy.logdebug("%s : going %s",self.nodeName,('Fwd' if direction>0 else 'Bwd')) if direction>0: GPIO.output(self.pinNameFwd,1) GPIO.output(self.pinNameBwd,0) else: GPIO.output(self.pinNameFwd,0) GPIO.output(self.pinNameBwd,1)
def stop(self): GPIO.output(self.pinNameFwd,0) GPIO.output(self.pinNameBwd,0) self.pwmCmd.setDutyCycle(0)