Arduino code for controlling a differential drive robot with using ROS1. This code is portion that runs on an Arduino.

Robot a differental drive robot which uses 2 DC motors with Quadrant encoders on them.

Hardware: Arduino - Mega2560 (4 interrupts are required) ROS - Raspi 3 (ROS1)

Libraries required:

rosserial_arduino ( http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup )

PID ( https://www.arduino.cc/reference/en/libraries/pid/ )