diff --git a/RMCS2301_RMCS2004/new_driver/README.md b/RMCS2301_RMCS2004/new_driver/README.md
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+## RMCS 2004 Motor
+Previously used motor driver (RMCS 2301) works erratically. Code for a different motor driver. 
\ No newline at end of file
diff --git a/RMCS2301_RMCS2004/new_driver/motor_pwm_control.ino b/RMCS2301_RMCS2004/new_driver/motor_pwm_control.ino
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+++ b/RMCS2301_RMCS2004/new_driver/motor_pwm_control.ino
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+
+
+
+#include <ros.h>
+#include <geometry_msgs/Twist.h>
+#include <digitalWriteFast.h>
+#include <std_msgs/Int16.h>
+
+ros::NodeHandle nh;
+int TicksCount=4;
+std_msgs::Int16 ticks;
+int speed=0;
+void messageCb( const geometry_msgs::Twist& toggle_msg){
+
+ speed=int(toggle_msg.linear.x*900);
+
+ }
+ros::Publisher chatter("chatter",&ticks);
+
+ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &messageCb );
+
+
+void setup() {
+ Serial.begin(57600);
+  
+  nh.initNode();
+  nh.subscribe(sub);
+  pinMode(8,OUTPUT);
+  pinMode(9,OUTPUT);
+  digitalWrite(8,LOW);
+  attachInterrupt(digitalPinToInterrupt(2), HandleRightMotorInterruptA, RISING);
+  nh.advertise(chatter);
+  
+  // put your setup code here, to run once:
+
+}
+void HandleRightMotorInterruptA()
+{
+  // count the ticks between some interval and calculate the rotation rate in the interval
+  TicksCount++;
+  }
+
+void loop() {
+
+  nh.spinOnce();
+  delay(1);
+  analogWrite(9,speed);
+  ticks.data=TicksCount;
+  chatter.publish(&ticks);
+}