Fixed PWM

ros2/src/robobin/robobin/motor_control_node.py

@@ -6,12 +6,23 @@ class MotorController(Node):
     def __init__(self):
         super().__init__('motor_controller')
         self.get_logger().info("Motor Controller has been started.")
-        self.subscription = self.create_subscription(Twist,'cmd_vel',self.cmd_vel_callback,10)
-        self.wheel_radius = 0.05  # meters
+        
+ 
+        self.subscription = self.create_subscription(
+            Twist,
+            'cmd_vel',
+            self.cmd_vel_callback,
+            10
+        )
+
+        self.wheel_radius = 0.05  
         self.wheel_base = 0.30  
 
-        self.get_logger().info("hello")
     
+        self.left_pwm = 0
+        self.right_pwm = 0
+
+        self.get_logger().info("hello")
     
     def cmd_vel_callback(self, msg):
         v = msg.linear.x
@@ -33,26 +44,26 @@ class MotorController(Node):
         # right_pwm = int((right_speed + 1.0) / 2.0 * 100)
 
         if omega == 1:
-            left_pwm = -50
-            right_pwm = 50
-
+            self.left_pwm = -50
+            self.right_pwm = 50
         elif omega == -1:
-            left_pwm = 50
-            right_pwm = -50
+            self.left_pwm = 50
+            self.right_pwm = -50
 
+        # Handle linear velocity commands
         if v == 0.5:
-            left_pwm = 75
-            right_pwm = 75
-
+            self.left_pwm = 75
+            self.right_pwm = 75
         elif v == -0.5:
-            left_pwm = -75
-            right_pwm = -75  
+            self.left_pwm = -75
+            self.right_pwm = -75
 
+        # STOP command
         if v == 0 and omega == 0:
-            left_pwm = 0
-            right_pwm = 0
+            self.left_pwm = 0
+            self.right_pwm = 0
             self.get_logger().info("STOP command received. Motors stopped.")
-        self.get_logger().info(f"Left PWM: {left_pwm}, Right PWM: {right_pwm}")
+        self.get_logger().info(f"Left PWM: {self.left_pwm}, Right PWM: {self.right_pwm}")
 
         # Set motor directions based on sign of speeds
         # left_direction = 1 if left_speed >= 0 else 0