Steer by wire Example

I am really close, but only one side controls the other, and not vice versa.
Trying to recreate

I am using 2 magnetic encoders with an I2C multiplexer

What do I need to do to make it work correctly?

I read about I2C multiplexer, and I think that could be a problem. Both motors works ok? You tried simple rotation?

I had to call out the encoder address every-time the corresponding motor is called
I still don’t know if this is actually correct because it still takes too much force to move without load

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