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I used a lot of different stuff on 8bits and 32 bits ardiuno through raspberry pi

32 bits = micro-ros 8 bits = Python Firmata mixed with ros2 (just import FIrmata while using ros2)

FYI, there's a ton of ways to do this but I feel FIrmata is easiest option for you since you just need motors+encoder, right? Firmata is simple like that.

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