 ros::NodeHandle_<ArduinoHardware, 5, 5, 256, 256>  nh;
 
 // Encoder Messages
-std_msgs::Int32 l_enc_msg;
-std_msgs::Int32 r_enc_msg;
+// std_msgs::Int32 l_enc_msg;
+// std_msgs::Int32 r_enc_msg;
 
 // Wheel Speed Messages
 std_msgs::Float32 l_wheel_msg;

#define LEFT_ENCODER_B_PIN 4
#define RIGHT_ENCODER_A_PIN 3
#define RIGHT_ENCODER_B_PIN 5
#define ENCODER_TIME_DELAY_MS 100
#define TICKS_PER_REVOLUTION 750
#define PI 3.141592654

// Pololu Motor Driver Pins

  nh.subscribe(motor_sub);
  
  // Encoder Pubs
  // nh.advertise(left_encoder_pub);
  // nh.advertise(right_encoder_pub);
  
  // Wheel Speeds in rad/s
  nh.advertise(right_wheel_pub);
