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+# Control for Rhino High-Torque Encoder DC Servo Motor and Driver (RMCS-220X)
+
+This code requires you use the i2c interface connected as in the manual: https://robokits.download/downloads/RMCS220x_DCServo_Driver.pdf
+
+You must pull up the SDA and SCL pins on your Arduino to 5v with 4.7k resistors.
+
+## Functionality
+
+As per the manual, you are able to perform the following functions:
+
+- Read/Write Motor Speed and Direction
+- Read/Write Speed Damping
+- Read/Write Encoder Position
+- Read/Write Go to Position Command
+- Read/Write Speed-Feedback Gain term
+- Read/Write P-Gain term
+- Read/Write I-Gain term
+- Write Relative Go to Position Command
+
+Please see `src/RMCS-220X.h` for the relevant methods, data types and accepted parameters.