This repository contains the code for implementing motor control and encoder functionality on both Arduino and Raspberry Pi platforms.

The Arduino code is responsible for controlling motors using L298N drivers and reading encoder values from the motor shafts. The code is located in the Arduino_Code directory.

1. Upload the Arduino code to your Arduino Mega board.
2. Make sure to connect the motor drivers and encoders properly to the Arduino Mega.

The Raspberry Pi code acts as a ROS node to receive motor control commands and encoder values from the Arduino, and it publishes them to ROS topics. The code is located in the RaspberryPi_Code directory.

1. Install ROS on your Raspberry Pi.
2. Run the ROS node using the provided Python script.
3. Make sure to adjust the serial port (/dev/ttyACM0) in the Python code if your Arduino is connected to a different port.
4. Adjust the publishing rate (rate) as needed.
5. Adjust the mapping of velocities to motor speeds according to your specific robot configuration.

If you need any additional information or assistance, feel free to contact me.