<> <> == Supported Hardware == This driver works with a Phidgets Motor Controller == ROS API == <> {{{ #!clearsilver CS/NodeAPI node.0 { name=PhidgetMotor desc=`PhidgetMotor` is a driver for Phidgets Motor Controller. This driver was designed to control the movement of a Corobot. sub{ 0.name= PhidgetMotor 0.type= corobot_msgs/MotorCommand 0.desc= Command the movement of the robot 1.name= lmotor_cmd 1.type= std_msgs/Float32 1.desc= Command the velocity of the left motor. The Value has to be between -100 and 100. 2.name= rmotor_cmd 2.type= std_msgs/Float32 2.desc= Command the velocity of the right motor. The Value has to be between -100 and 100. } pub{ 0.name= position_data 0.type= corobot_msgs/PosMsg 0.desc= Encoders position 1.name= lwheel 1.type= std_msgs/Int16 1.desc= Left encoder position 2.name= rwheel 2.type= std_msgs/Int16 2.desc= Right encoder position 3.name= diagnostics 3.type= diagnostic_msgs/DiagnosticArray 3.desc= Diagnostic message } param{ 0.name= motors_inverted 0.type= Bool 0.desc= True if the left and right motors are inverted 1.name= encoders_inverted 1.type= Bool 1.desc= True if the left and right encoders are inverted } } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage