NASA-JPL/Open-Source-Rover

motor.py

#!/usr/bin/env python
import rospy
import time
import math

class Robot():
	'''
	Robot class contains all the math and motor control algorithms to move the rover
	In order to call command the robot the only method necessary is the sendCommands() method
	with drive velocity and turning amount
	'''
	def __init__(self):
		distances = rospy.get_param('mech_dist','7.254,10.5,10.5,10.073').split(",")
		self.d1 = float(distances[0])
		self.d2 = float(distances[1])
		self.d3 = float(distances[2])
		self.d4 = float(distances[3])