From da8b3a8c4e56a195bd79b0f7b836b43882eda060 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Tue, 19 Nov 2024 14:28:32 +0000
Subject: [PATCH] Update motor_control_node.py
---
.../src/robobin/robobin/motor_control_node.py | 30 +++++++++++--------
1 file changed, 17 insertions(+), 13 deletions(-)
diff --git a/ros2/src/robobin/robobin/motor_control_node.py b/ros2/src/robobin/robobin/motor_control_node.py
index 19619640..d049b21f 100644
--- a/ros2/src/robobin/robobin/motor_control_node.py
+++ b/ros2/src/robobin/robobin/motor_control_node.py
@@ -25,8 +25,8 @@ class MotorController(Node):
self.get_logger().info("hello")
def cmd_vel_callback(self, msg):
- v = msg.linear.x
- omega = msg.angular.z
+ linear_x = msg.linear.x
+ angular_z = msg.angular.z
# self.get_logger().info(f"linearx: {v}, angluarz: {omega}")
@@ -43,26 +43,30 @@ 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
- elif omega == -1:
- self.left_pwm = 50
- self.right_pwm = -50
- # Handle linear velocity commands
- if v == 0.5:
+ if linear_x == 0.5 and angular_z == 0:
+
self.left_pwm = 75
self.right_pwm = 75
- elif v == -0.5:
+ elif linear_x == -0.5 and angular_z == 0:
+
self.left_pwm = -75
self.right_pwm = -75
+ elif linear_x == 0 and angular_z == 0.5:
- # STOP command
- if v == 0 and omega == 0:
+ self.left_pwm = -50
+ self.right_pwm = 50
+ elif linear_x == 0 and angular_z == -0.5:
+ # Turn right
+ self.left_pwm = 50
+ self.right_pwm = -50
+ elif linear_x == 0 and angular_z == 0:
+ # STOP
self.left_pwm = 0
self.right_pwm = 0
self.get_logger().info("STOP command received. Motors stopped.")
+
+ # Log the computed PWM values
self.get_logger().info(f"Left PWM: {self.left_pwm}, Right PWM: {self.right_pwm}")
# Set motor directions based on sign of speeds
--
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