#NEWLINE# def set_commanded_speed( self , speed , steps ) : #NEWLINE# #INDENT# self . cmd_vel = speed #NEWLINE# self . vel_delta = ( ( self . cmd_vel - self . vel ) / steps ) #NEWLINE# if ( abs ( self . vel_delta ) > 0 ) : #NEWLINE# #INDENT# self . vel_step = steps #NEWLINE# #UNINDENT# else : #NEWLINE# #INDENT# self . vel_step = 0