https://mail.google.com/mail/u/0/?tab=rm&ogbl#search/encoders/KtbxLwghlTMTZVmWnLprSqPvPWnRrSsbVV

https://www.robotshop.com/community/blog/show/arduino-pid-motor-controller

https://www.instructables.com/id/Arduino-Self-Driving-Car/

Solving I2C Address Conflicts – TCA9548A I2C Multiplexer