i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
rospy.Subscriber("imu", Imu, self.imuReceived)
i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
rospy.Subscriber("imu", Imu, self.imuReceived)