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Supported Hardware

This driver works with a Phidgets Motor Controller

ROS API

PhidgetMotor

PhidgetMotor is a driver for Phidgets Motor Controller. This driver was designed to control the movement of a Corobot.

Subscribed Topics

PhidgetMotor (corobot_msgs/MotorCommand)

• Command the movement of the robot

lmotor_cmd (std_msgs/Float32)

• Command the velocity of the left motor. The Value has to be between -100 and 100.

rmotor_cmd (std_msgs/Float32)

• Command the velocity of the right motor. The Value has to be between -100 and 100.

Published Topics

position_data (corobot_msgs/PosMsg)

• Encoders position

lwheel (std_msgs/Int16)

• Left encoder position

rwheel (std_msgs/Int16)

• Right encoder position

diagnostics (diagnostic_msgs/DiagnosticArray)

• Diagnostic message

Parameters

motors_inverted (Bool)

• True if the left and right motors are inverted

encoders_inverted (Bool)

• True if the left and right encoders are inverted