import motorLib as motor
import rospy
from std_msgs.msg import Int64
class LeftMotorControl():
def __init__(self, motor):
self.motor = motor
# Set up node
rospy.init_node('left_motor_test')
rospy.Subscriber('left_motor/cmd_vel', Int64, self.callback)
rospy.loginfo('Ready')
def control_main(self):
rospy.spin()
self.motor.stop()
def callback(self, data):
self.rpm = data.data
self.duty = self.motor.setRPM(self.rpm)
rospy.loginfo('RPM: ' + str(self.rpm))
rospy.loginfo('Duty: ' + str(self.duty))
if __name__ == '__main__':
left_motor = motor.Motor(port=[16, 20, 21])
left_motor_control = LeftMotorControl(left_motor)
left_motor_control.control_main()
import motorLib as motor
import rospy
from std_msgs.msg import Int64
class RightMotorControl():
def __init__(self, motor):
self.motor = motor
# Set up node
rospy.init_node('right_motor_test')
rospy.Subscriber('right_motor/cmd_vel', Int64, self.callback)
rospy.loginfo('Ready')
def control_main(self):
rospy.spin()
self.motor.stop()
def callback(self, data):
self.rpm = data.data
self.duty = self.motor.setRPM(self.rpm)
rospy.loginfo('RPM: ' + str(self.rpm))
rospy.loginfo('Duty: ' + str(self.duty))
if __name__ == '__main__':
right_motor = motor.Motor(port=[13, 19, 26])
right_motor_control = RightMotorControl(right_motor)
right_motor_control.control_main()
from Tkinter import *
import motorLib
right = motorLib.Motor()
left = motorLib.Motor(12, 16, 18, 22)
root = Tk()
def key(event):
letter = event.char
if letter == 'w':
print "up"
left.fwd()
right.fwd()
elif letter == 'a':
print "left"
left.rev()
right.fwd()
elif letter == "d":
print "right"
left.fwd()
right.rev()
elif letter == "s":
print "down"
left.rev()
right.rev()
else:
print "stop"
left.stop()
right.stop()
import motorLib m1 = motorLib.Motor() m2 = motorLib.Motor(12, 16, 18, 22) #EXPLODE!!!!!!!!!!! m1.fwd() m2.fwd(2) m1.stop() m2.stop() m1.rev() m2.rev(2) m1.stop() m2.stop()