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Connecting DHB-10 Motor Controller to Arduino (MEGA)

Hi,

I am working on a new autonomous wheeled robot project with the Arlobot. I will be using Arduino MEGA to collect information and send over to ROS. I have a DHB-10 motor controller and want to use it with the MEGA. I read that you can interface the two if you have the BOE shield for arduino. Is there any possible way to connect the channels without the BOE shield?

Best,
Matthew
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