With the Encoder Node PCB finally mounted onto the robot, testing its functionality can begin.

Here I'm demonstrating that the board is reading ticks from the encoders and publishing them correctly using the custom encoder_ticks interface. The green LED indicators are flashing every time an encoder tick count changes for that wheel.

While the onboard Raspberry Pi 4 is currently hardwired, the plan is to power it from a rechargeable battery through a voltage regulator, and connect it to my local wifi network.