 #include <Event.h>
 #include <Timer.h>
 #include <Encoder.h>
-#include <PololuQik.h>
-#include <SoftwareSerial.h>
-#include <scr_proto/DiffCommand.h>
+//#include <PololuQik.h>
+//#include <SoftwareSerial.h>
+// #include <scr_proto/DiffCommand.h>
 
 // Encoder stuff
 #define LEFT_ENCODER_A_PIN 2

  R_LastEncoderValue = R_encoderValue;
}

ros::Subscriber<scr_proto::DiffCommand> motor_sub("motor_command", MotorCallback);


// Rx, Tx, Reset Pins
PololuQik2s12v10 pmd(PMD_RX, PMD_TX, 8);

void setup()
{
  // ROS Stuff
  nh.initNode();
  nh.subscribe(leftMotorSub);
  nh.subscribe(rightMotorSub);
  nh.advertise(left_encoder_pub);
  nh.advertise(right_encoder_pub);

  // Motor Driver Init
  pmd.init();
}

void loop()

  nh.spinOnce();
  
  // Write Speeds to motor driver
  //pmd.setSpeeds(lm_cmd, rm_cmd);
  
  delay(10);
}
