arduino DC motor subscriber error

asked 2016-04-22 12:58:16 -0500

ahmed charef gravatar image

updated 2016-04-22 13:02:13 -0500

Hello, I managed to control DC motors with L293D and Arduino.

I am initializing ROS by typing "roscore" and then establishing the serial communication between arduino and ros by using the "rosrun rosserial_python /dev/ttyUSB0" command. So far so good. Then I send the following command:

$rostopic pub av std_msgs/Empty --once

which calls the "up" function for delay time 3s,This also works fine. but when i call "down" function pin 1 and pin 2 works but pin 7 and pin 8 doesn't but pin 13 works.

This is what's in my mind and not sure if this is the right way for that framework but appreciate if you show me the way.

#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle nh;

void down( const std_msgs::Empty& toggle_msg){
  digitalWrite(1, LOW); 
  digitalWrite(2, HIGH);  
  analogWrite(10, 255); 

  digitalWrite(7, HIGH); 
  digitalWrite(8, LOW);  
  analogWrite(11, 255);  

 digitalWrite(13, HIGH); 
  void up( const std_msgs::Empty& toggle_msg){
  digitalWrite(1, HIGH); 
  digitalWrite(2, LOW);  
  analogWrite(10, 127); 

  digitalWrite(8, HIGH); 
  digitalWrite(7, LOW);  
  analogWrite(11, 127); 

ros::Subscriber<std_msgs::Empty> avant("av", &up);
ros::Subscriber<std_msgs::Empty> arriere("ar", &down);

void setup(){
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(1, OUTPUT);
  pinMode(2, OUTPUT); 
  pinMode(13, OUTPUT); 
  pinMode(10, OUTPUT); 
  pinMode(11, OUTPUT);


void loop(){
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did you solve this problem?

Mekateng gravatar image Mekateng  ( 2017-10-20 16:05:26 -0500 )edit