holding here all the arduino codes utilized on the SURP project. I am using the following libraries for arduino:

Adafruit_9DOF_Master

https://github.com/adafruit/Adafruit_Sensor

Adafruit_L3GD20_U-master

https://github.com/adafruit/Adafruit_LSM303DLHC

Adafruit_LSM303DLHC-master

https://github.com/adafruit/Adafruit_L3GD20_U

Adafruit_Sensor-master

https://github.com/adafruit/Adafruit_9DOF

Encoder-master

https://github.com/PaulStoffregen/Encoder

I got from the Arduino Playground_many libraries, this was the best for my application

http://playground.arduino.cc/Main/RotaryEncoders

arduino-pwm-frequency-library https://code.google.com/archive/p/arduino-pwm-frequency-library/downloads

need to organize the files to install in Arduino IDE

I got from this forum:

https://forum.arduino.cc/index.php?topic=117425.0

ros_lib

This can be found in the ros tutorials