MotorDriver

A class to interface with the Lynxmotion motors. It will publish the motor state as a sensor_msgs::msg::JointState message to the /motor_state topic and read motor sensor_msgs::msg::JointState messages from the /motor_command topic

API

MotorDriver(int pwm_motor_l, int pwm_motor_r, int encoder_l_a, int encoder_l_b, int encoder_r_a, int encoder_r_b)

Constructor
pwm_motor_l The GPIO pin connected to the left motor driver PWM input
pwm_motor_r The GPIO pin connected to the right motor driver PWM input
encoder_l_a The GPIO pin connected to the left encoder input a
encoder_l_b The GPIO pin connected to the left encoder input b
encoder_r_a The GPIO pin connected to the right encoder input a
encoder_r_b The GPIO pin connected to the right encoder input b