a

robomaster_pi/conn_vel.py

@@ -50,7 +50,7 @@ class vel_from_ros_node(Node):
     def __init__(self, my_ep_chassis):
 
         super().__init__("vel_from_ros")
-        self.hostname = "192.168.1.1"
+        self.hostname = "192.168.1.77"
         self.response = 1
         Timer(1, self.check_connection)
         self.my_ep_chassis = my_ep_chassis
@@ -67,7 +67,7 @@ class vel_from_ros_node(Node):
     def pose_callback(self, msg: Twist):
         
         
-        if((msg.angular.z == 0.0 and msg.linear.x == 0.0 and msg.linear.y == 0.0)):
+        if((msg.angular.z == 0.0 and msg.linear.x == 0.0 and msg.linear.y == 0.0) or self.response == 0):
             self.my_ep_chassis.drive_speed(x = 0, y = 0, z = 0.5)
         else:
             self.my_ep_chassis.drive_speed(x = msg.linear.x, y = -msg.linear.y, z = -msg.angular.z * (180 / math.pi))