Starting to learn about drivers, encoders and PID control

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+## Drivers
+
+### Logical pins
+* 6 GPIO for fault indicators, sleep inputs, motor directions
+* 2 PWM pins for motor speed control
+* 2 Analog pins for current sense

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+## Links and material
+
+### Drivers
+[High-power motor drivers](https://www.pololu.com/category/11/brushed-dc-motor-drivers)
+
+### PID
+[Introduction to pid](https://www.csimn.com/CSI_pages/PIDforDummies.html)
+
+[PID without PhD](https://m.eet.com/media/1112634/f-wescot.pdf)
+
+[Reddit thread](https://www.reddit.com/r/engineering/comments/3jcxe9/can_someone_eli5_basic_pid_loop_tuning/)
+
+### Quadrature Encoders
+ [Intro with nice gif](http://www.creative-robotics.com/quadrature-intro)