Two Wheel Motor Control
My team has built a robot with two Victor SPXs and two 2.5 in CIM motors using a Raspberry Pi. The motors are in the back and there are two caster wheels in the front. We're trying to figure out the best way to output control commands to the bot by subscribing to cmd_vel. We're thinking about using something similar to this: link link. Please let me know if there are smarter ways of controlling it.
Is there a way that you can summarize what you're trying to do instead of asking people to read 200+ lines of code and/or watching a 20+ minute video?