Motor Node - GarethG/ProjectRinzler GitHub Wiki

The motor node is tasked with receiving commands and transmitting them to the Roboards PWM libraries. This node depends on the Roboard libraries. #Services This node depends on services from the PID Ramp Node.

ros::Subscriber sub1 = motorN.subscribe("pidRampFront",	100, frontCallback);
ros::Subscriber sub2 = motorN.subscribe("pidRampLeft",	100, leftCallback);
ros::Subscriber sub3 = motorN.subscribe("pidRampRight",	100, rightCallback);
ros::Subscriber sub4 = motorN.subscribe("pidRampBack",	100, backCallback);

rosrun motor motor