Robogaia 6 Encoders and SIX WHEELS

[fgastald]

Hello,
i am making a 6 Wheels rover, at the beginning i used just imu without encoders but i get poor results.
Now i have encoders on the 6 motors connected to a robogaia 6 encoders counter (similar to the one used in the ros_arduino_bridge).
I understand how it works and it seems it's great but i need a little help in understanding how i can extend the software to a rover with 6 wheels.
Any help will be much appreciate

Fabio

[fgastald]

This is a picture of my rover :)
in the picture there was no encoders and no robogaia shield

[fgastald]

someone can help?

[fgastald]

Here are the pictures after the upgrade of motors (now with encoders) and Robogaia connections.