Implement a motor hardware interface on the Arduino to read encoder values, send, and write motor speeds.

The easiest way is to write your own bridge the main idea would be to have something that reads the digital signal from the encoder and publishes it, sends current motor speed, and writes motor speed to the motors as a PWM signal.

The message will be passed via Serial although I would like to investigate the I2C communication protocol. This will make it easier to expand the message that we need to send. Start with Serial message.

Problem breakdown:

[ ] Make a simple reader.
[ ] Make a simple PWM signal based on a static signal
[ ] make a simple input interface.
[ ] read the encoder signals
[ ] calculate the position and the velocity
[ ] publish as a ROS message.

AndrewChen26 / f1tenth_amr

Implement a motor hardware interface on the Arduino to read encoder values, send, and write motor speeds. #3