This is the ROS driver for Phidgets motor. The various topics, services, and parameters that the node operates with are listed below.
/set_motor_duty_cycleXX(std_msgs/Float64) - Set the motor duty cycle. One topic is created for each motor attached./motor_duty_cycleXX(std_msgs/Float64) - Get the motor duty cycle. One topic is created for each motor attached./motor_back_emfXX(std_msgs/Float64) - Get the motor back EMF value. One topic is created for each motor attached.
serial(int) - The serial number of the phidgets motor to connect to. If -1 (the default), connects to any motor phidget that can be found.hub_port(int) - The phidgets VINT hub port to connect to. Only used if the motor phidget is connected to a VINT hub. Defaults to 0.braking_strength(double) - The braking strength to apply when the duty cycle is 0. Defaults to 0.0.data_interval_ms(int) - The number of milliseconds between acquisitions of data on the device. Defaults to 250 ms.publish_rate(int) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at thedata_interval_ms). If positive, it will publish the data at that rate regardless of the acquisition interval.