- i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
- i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
+ i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
+ rospy.logwarn("Running backward rollver protection")