c++ ROS node wrapper for the Adafruit DC & Stepper Motor HAT.

Based on tracing behaviour of the AdaFruit Python lib

note: no code for the Stepper Motor control, just the DCs.

subscribes to cmd topic std_msg::Int16MultiArray messages expecting 4 values (one for each motor) between -255 (full reverse) to 255 (full forward). A value of 0 denotes turning off motor.

node sends stopAll on exit.

# skid steer right (assuming motor0 & 1 are left hand side)
rostopic pub -1 /cmd std_msgs/Int16MultiArray "{data:[200, 200, -200, -200]}"

TODOS

• no support for stepper control.
• integrate conversion of 4 values to a twist directly in this code (?)