Supressing the no pwm/pwm errors

ros2/src/robobin/robobin/motor_control_node.py

@@ -9,8 +9,7 @@ class MotorController(Node):
         self.subscription = self.create_subscription(Twist,'cmd_vel',self.cmd_vel_callback,10)
         self.wheel_radius = 0.05  # meters
         self.wheel_base = 0.30 
-        self.left_pwm = 0
-        self.right_pwm = 0
+
         self.get_logger().info("hello")
         
 
@@ -33,28 +32,27 @@ class MotorController(Node):
         # left_pwm = int((left_speed + 1.0) / 2.0 * 100)
         # right_pwm = int((right_speed + 1.0) / 2.0 * 100)
 
-
         if omega == 1:
-            self.left_pwm = -50
-            self.right_pwm = 50
+            left_pwm = -50
+            right_pwm = 50
 
         elif omega == -1:
-            self.left_pwm = 50
-            self.right_pwm = -50
+            left_pwm = 50
+            right_pwm = -50
 
         if v == 0.5:
-            self.left_pwm = 75
-            self.right_pwm = 75
+            left_pwm = 75
+            right_pwm = 75
 
         elif v == -0.5:
-            self.left_pwm = -75
-            self.right_pwm = -75  
-        if v == 0 and omega == 0:
-            self.left_pwm = 0
-            self.right_pwm = 0
+            left_pwm = -75
+            right_pwm = -75  
 
-        
-        self.get_logger().info(f"Left PWM: {self.left_pwm}, Right PWM: {self.right_pwm}")
+        if v == 0 and omega == 0:
+            left_pwm = 0
+            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}")
 
         # Set motor directions based on sign of speeds
         # left_direction = 1 if left_speed >= 0 else 0