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root / testing / motors_test / motors_test.py @ c7b564bb

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#!/usr/bin/python
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import roslib; roslib.load_manifest('motors_test')
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import rospy
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from motors.msg import set_motors
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if __name__ == '__main__':
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  rospy.init_node('motors_test')
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  pub = rospy.Publisher('/set_motors', set_motors)
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  msg = set_motors(fl_set=True, fl_speed=0)
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  fl_ds = 5
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  while not rospy.is_shutdown():
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    msg.fl_speed += fl_ds
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    if msg.fl_speed >= 100:
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      fl_ds = -5
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      msg.fl_speed = 100
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    elif msg.fl_speed <= -100:
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      fl_ds = 5
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      msg.fl_speed = -100
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    pub.publish(msg)
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    rospy.sleep(0.05)