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from geometry_msgs.msg import Twist
import serial
import pyvesc
# VESC iletişim portunu tanımla
port_Object = serial.Serial('/dev/ttyACM0', 11520, timeout=0.1)
def cmd_vel_callback(msg):
# linear.x değerini 10000 ile çarp
duty_cycle = int(msg.linear.x * 10000)
# angular.z değerini 3'e böl
servo_position = (msg.angular.z / 5) + 0.5
# VESC'ye duty cycle ve servo pozisyonu değerlerini gönder
message = pyvesc.SetDutyCycle(duty_cycle)
packet = pyvesc.encode(message)
port_Object.write(packet)
port_Object.flush()
message = pyvesc.SetServoPosition(servo_position)
packet = pyvesc.encode(message)
port_Object.write(packet)
port_Object.flush()
def main():
rospy.init_node('cmd_vel_subscriber', anonymous=True)
rospy.Subscriber('cmd_vel', Twist, cmd_vel_callback)
rospy.spin()
if __name__ == '__main__':
main()
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