 int ENA=5;
 int ENB=11;
 int ABS = 100;
+
+void set_speed(const std_msgs::Int16& msg)
+{
+  int new_speed = msg.data;
+  
+  if (new_speed <= 0)
+  {
+    ABS = 0;
+  }
+  else if (new_speed >= 255)
+  {
+    ABS = 255;
+  } 
+  else
+  {
+    ABS = msg.data;
+  }
+}
 
 void move_robot(const std_msgs::UInt8& msg)
 { 

}  

ros::Subscriber<std_msgs::UInt8> steering_subscriber("robot_car_steering", &move_robot);

std_msgs::Int16 ultrasonic_sensor_message;
ros::Publisher ultrasonic_sensor_publisher("robot_car_ultrasonic_sensor", &ultrasonic_sensor_message);

  nh.initNode();
  
  nh.subscribe(steering_subscriber);
  nh.subscribe(speed_subscriber);
}

void loop() 
