<> * New Maintainer : Inovasyon Muhendislik <> == Nodes == {{{ #!clearsilver CS/NodeAPI node.0 { name=evarobot_driver desc=`evarobot_driver` takes velocities and drives left and right motors on the Evarobot using PWM(Pulse Width Modulation). sub{ 0.name= cntr_wheel_vel 0.type= geometry_msgs/Twist 0.desc= Linear and angular velocities which are applied to the Evarobot. } }}} ==== Parameters ==== {{{ #!clearsilver CS/NodeAPI param { no_header=True 0.name= ~commandTopic 0.default=cntr_wheel_vel 0.type= string 0.desc= Topic name which is read. 1.name= ~maxLinearVel 1.default=1.0 1.type= double 1.desc= Maximum linear velocity of the Evarobot. 2.name= ~maxAngularVel 2.default=3.0 2.type= double 2.desc= Maximum angular velocity of the Evarobot. 3.name= ~wheelSeparation 3.default=0.32 3.type= double 3.desc= Distance between two wheels in meter. 4.name= ~wheelDiameter 4.default=0.17 4.type= double 4.desc= Wheel diameter in meter. 5.name= ~pwmFrequency 5.default=1000.0 5.type= double 5.desc= PWM frequency. 6.name= ~pwmDuty 6.default=90 6.type= int 6.desc= Max. duty cycle. 7.name= ~pwmCounts 7.default=256 7.type= int 7.desc= Number of pwm count. 8.name= ~pwmMode 8.default=2 8.type= int 8.desc= 1: PWMMode (||||||.....), 2: MSMode (|.|.|.|.|.|). 9.name= ~M1_IN1 9.default=1 9.type= int 9.desc= Pin number of M1_IN1. 10.name= ~M1_IN2 10.default=12 10.type= int 10.desc= Pin number of M1_IN2. 11.name= ~M1_EN 11.default=5 11.type= int 11.desc= Pin number of M1_EN. 12.name= ~M2_IN1 12.default=0 12.type= int 12.desc= Pin number of M2_IN1. 13.name= ~M2_IN2 13.default=19 13.type= int 13.desc= Pin number of M2_IN2. 14.name= ~M2_EN 14.default=6 14.type= int 14.desc= Pin number of M2_EN. } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage