drive now

Signed-off-by: JoshuaGabriel <[email protected]>

src/phidget_drivetrain/front_left_right_nopid.py

@@ -17,6 +17,9 @@ def __init__(self):
         self.pub_right_pwm = rospy.Publisher('worm_gear_front_right_pwm', Int16, queue_size=10)
         self.pub_right_dir = rospy.Publisher('worm_gear_front_right_dir', Bool, queue_size=10)
 
+        self.pub_back_pwm = rospy.Publisher('worm_gear_back_right_pwm', Int16, queue_size=10)
+        self.pub_back_dir = rospy.Publisher('worm_gear_back_right_dir', Bool, queue_size=10)
+
         # Assume left stick Y-axis is at index 1, adjust if needed
         self.axis_left_y = 0
 
@@ -27,9 +30,10 @@ def joy_callback(self, data):
         joy_value = data.axes[self.axis_left_y]
 
         # Convert joystick value to PWM (0 to 255)
-        pwm_value = int(abs(joy_value) * 255)
+        pwm_value = int(abs(joy_value) * 100)
 
         # Determine direction
+        direction = False
         direction = joy_value >= 0
 
         # Publish PWM and direction for both motors
@@ -38,6 +42,9 @@ def joy_callback(self, data):
         self.pub_right_pwm.publish(pwm_value)
         self.pub_right_dir.publish(direction)
 
+        self.pub_back_pwm.publish(pwm_value)
+        self.pub_back_dir.publish(direction)
+
 if __name__ == '__main__':
     try:
         JoystickMotorControl()