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Dagu 5rover arduino code

Hello i Got the dagu 5 rover and the 4wd motor controller, attached it to an arduino,  i wrote code to use it but it doesn't seem to be functional


volatile int rotaryCount = 0;


#define INTERRUPT0 0  // that is, pin 2

#define INTERRUPT1 1//pin 3


#define DIRECTIONA 4

#define MOTORA 5


#define DIRECTIONB 7

#define MOTORB 6


int QEM [16] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0};               // Quadrature Encoder Matrix


Questions about arduino, rover 5, shields

I'm an absolute beginner to making robots.

I'm looking to make a robot using the Rover 5 (4 motor with 4 encoders), and an arduino as the brains.

Based on what I've read, to drive all 4 motors as well as read all the encoders, the arduino UNO doesn't have enough pins, so an Arduino MEGA or Red Back Spider is needed.   as well as the Dagu 4 Channel 5-12V, 2A Brushed DC Motor Controller, or something similar which provides enough power to the motors, and communicates with the arduino (or spider).

First question is, is the above correct?

How to connect Rover 5 with arduino?

Simple connection for Rover 5 to arduino.

It's possible to connect Rover 5 to Arduino withous a Dagu - 4 Channel DC Motor Controller with Encoder Support . 

Please manuals, tips, very new into this..

Thanks in advance!!