updated to motor controller

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index bac2742386fd45c2c6b3e2c69bef366507835fac..fbd265fb9c6001c75879da1d0cb406ab7d110f9a 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -3,7 +3,7 @@
 
 import rospy
 import struct
-from i2c import i2c
+from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 
@@ -15,6 +15,7 @@ class MoveBase:
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
+               i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.run()
        
        def run(self):
@@ -37,8 +38,8 @@ class MoveBase:
                if right > 255: right=255
                elif right < -255: right=-255
 
-               dev = i2c(0x56)
-               s = struct.pack(">Bhh", 0x1, left, right)
+               dev = i2c(0x50)
+               s = struct.pack(">Bhhhh", 0x1, right, right, left, left)
                dev.write(s)
                dev.close()