result

#!/usr/bin/env python

# license removed for brevity

import rospy

from std_msgs.msg import UInt16MultiArray

from std_msgs.msg import UInt16

pub = rospy.Publisher('control',UInt16MultiArray,queue_size=10)

cmd_vel = UInt16MultiArray()

cmd_vel.data = [0,0]

def callback1(msg):

rospy.loginfo(msg.data[0])

cmd_vel.data[0] = msg.data[0]

cmd_vel.data[1] = msg.data[1]

pub.publish(cmd_vel)

def callback2(msg):

cmd_vel.data[0] = 32

cmd_vel.data[1] = msg.data

if cmd_vel.data[1] > 100 or cmd_vel.data[1] < 70:

cmd_vel.data[0] = cmd_vel.data[0] + 3

#cmd_vel.data[1] = cmd_vel.data[1] * 0.9

rospy.loginfo(cmd_vel)

pub.publish(cmd_vel)

def motor_control():

rospy.init_node('motor_control',anonymous=True)

rospy.Subscriber("roscar_teleop_cmd_vel",UInt16MultiArray,callback1)

rospy.Subscriber("angle",UInt16,callback2)

pub.publish(cmd_vel)

rospy.spin()

if __name__ == '__main__':

try:

motor_control()

except rospy.ROSInterruptException:

pass