Crate mecha10_nodes_motor 

Motor Node

This node manages motor control with configurable controller backends. It provides velocity control through the standard /motor/cmd_vel topic and publishes odometry data.

Controller Selection

The node supports multiple motor controllers, selected via configuration:

• mock: Simulated motors for testing/development (no hardware required)
• l298n: L298N dual H-bridge driver for DC motors

Topics

• Subscribes: /motor/cmd_vel (Twist) - Velocity commands
• Publishes: /odom (Odometry) - Odometry data
• Publishes: /motor/status (MotorStatus) - Motor status

Configuration

{
  "controller": {
    "type": "mock",  // or "l298n"
    "wheel_base": 0.3,
    "max_velocity": 1.0
  },
  "odom_rate_hz": 50.0,
  "max_linear_vel": 0.5,
  "max_angular_vel": 1.0
}

See config.rs for full configuration options.

Modules

topics

Motor node topics

Structs

L298nControllerConfig

L298N controller configuration

L298nMotorPins

Pin configuration for a single L298N motor

MockControllerConfig

Mock controller configuration

MotorConfig

Motor node configuration

MotorNode

Motor node

Enums

ControllerConfig

Motor controller configuration - tagged union

Traits

DynMotorController

Trait alias for dynamic dispatch of motor controllers

Functions

create_motor_controller

Create a motor controller based on configuration

run

Run the motor node with V2 configuration system

Type Aliases

BoxedMotorController

Boxed motor controller trait object