"encoder" node in "controls" package publishes both the rear wheels' RPM as a controls/encoder_msg on the topic "encoders" encoder_msg: float32 left_vel float32 right_vel
eQEP2 = "/sys/devices/ocp.2/48304000.epwmss/48304180.eqep"
0x0B0 0x33 P8_41 = GPIO2_10 = EQEP2A_in, MODE3
0x0B4 0x33 P8_42 = GPIO2_11 = EQEP2B_in, MODE3 */
right wheel encoder at eqep1
sudo echo bone_eqep1 > /sys/devices/bone_capemgr.*/slots");
eQEP1 = "/sys/devices/ocp.2/48302000.epwmss/48302180.eqep";
0x0D4 0x32 P8_33 = GPIO0_9 = EQEP1B_in, MODE2
0x0D0 0x32 P8_35 = GPIO0_8 = EQEP1A_in, MODE2
left wheel encoder at epeq0
sudo echo bone_eqep0 > /sys/devices/bone_capemgr.*/slots
eQEP0 = "/sys/devices/ocp.2/48300000.epwmss/48300180.eqep";
0x1A0 0x31 P9_42 = GPIO3_18 = EQEP0A_in, MODE1
0x1A4 0x31 P9_27 = GPIO3_19 = EQEP0B_in, MODE1