Colony » Colony Scout

#!/usr/bin/python

import roslib; roslib.load_manifest('motors_test')

import rospy

from motors.msg import set_motors

if __name__ == '__main__':

  rospy.init_node('motors_test')

  pub = rospy.Publisher('/set_motors', set_motors)

  msg = set_motors(fl_set=True, fl_speed=0)

  fl_ds = 5

  while not rospy.is_shutdown():

    msg.fl_speed += fl_ds

    if msg.fl_speed >= 100:

      fl_ds = -5

      msg.fl_speed = 100

    elif msg.fl_speed <= -100:

      fl_ds = 5

      msg.fl_speed = -100

    pub.publish(msg)

    rospy.sleep(0.05)