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File: protect.cpp
Functions: m_current_protect and m_diagnostics_protect.

Both the functions are misfiring and lead to unnecessary calls to system_protect function leading to misbehavior of code.

Communication via ROS or Serial Communication, whichever chosen is yet to be implemented to provide run-time configuration and control.

The speed update function is implemented using PoluluWheelEncoders library. The library uses the edge-counting method which has it's limitations and flaws giving rise to inaccurate speed values.

Further the scaling factor has been introduced without much calculations as 7.5 which appears incorrect. A confirmation using Tachometer needs to be performed.

[Unless the update_speed function is accurate, PID routine is almost useless.]

The current version 2.0 of Arduino_Control does not track the absolute displacement of motor shafts. Should the tracking be done? If yes, suggest possible modifications to be made.