diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index c8f1235..14ffbe7 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -9,6 +9,9 @@
     different motor controller or encoder method.
 
     Created for the Pi Robot Project: http://www.pirobot.org
+    and the Home Brew Robotics Club (HBRC): http://hbrobotics.org
+    
+    Authors: Patrick Goebel, James Nugen
 
     Inspired and modeled after the ArbotiX driver by Michael Ferguson
     
@@ -50,6 +53,9 @@
    /* The Pololu VNH5019 dual motor driver shield */
    #define POLOLU_VNH5019
 
+   /* The Pololu MC33926 dual motor driver shield */
+   //#define POLOLU_MC33926
+
    /* The RoboGaia encoder shield */
    #define ROBOGAIA
 #endif
@@ -82,28 +88,12 @@
 #endif
 
 #ifdef USE_BASE
-  #ifdef POLOLU_VNH5019
-    /* Include the Pololu library */
-    #include "DualVNH5019MotorShield.h"
-  #endif
-  
-  /* Include the motor driver functions */
+  /* Motor driver function definitions */
   #include "motor_driver.h"
-  
-  #ifdef ROBOGAIA
-    /* The Robogaia Mega Encoder shield */
-    #include "MegaEncoderCounter.h"
-  #endif
 
-  /* Include the encoder functions */
-  #include "encoders.h"
-  
-  /* Wrap the encoder reset function */
-  void resetEncoders() {
-    resetEncoder(LEFT);
-    resetEncoder(RIGHT);
-  }
-  
+  /* Encoder driver function definitions */
+  #include "encoder_driver.h"
+
   /* PID parameters and functions */
   #include "diff_controller.h"
 
diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.h
new file mode 100644
index 0000000..033d373
--- /dev/null
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.h
@@ -0,0 +1,8 @@
+/* *************************************************************
+   Encoder driver function definitions - by James Nugen
+   ************************************************************ */
+   
+long readEncoder(int i);
+void resetEncoder(int i);
+void resetEncoders();
+
diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoders.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.ino
similarity index 64%
rename from ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoders.h
rename to ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.ino
index bc2c342..af9434d 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoders.h
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/encoder_driver.ino
@@ -1,15 +1,18 @@
-
-
 /* *************************************************************
    Encoder definitions
    
-   Add a #ifdef block to this file to include support for
-   a particular encoder board or library. Then add the appropriate #define
-   near the top of the main ROSArduinoBridge.ino file.
+   Add a "#if defined" block to this file to include support for
+   a particular encoder board or library. Then add the appropriate
+   #define near the top of the main ROSArduinoBridge.ino file.
    
    ************************************************************ */
    
-#ifdef ROBOGAIA
+#ifdef USE_BASE
+
+#if defined ROBOGAIA
+  /* The Robogaia Mega Encoder shield */
+  #include "MegaEncoderCounter.h"
+
   /* Create the encoder shield object */
   MegaEncoderCounter encoders = MegaEncoderCounter(4); // Initializes the Mega Encoder Counter in the 4X Count mode
   
@@ -24,5 +27,15 @@
     if (i == LEFT) return encoders.YAxisReset();
     else return encoders.XAxisReset();
   }
+#else
+  #error A encoder driver must be selected!
+#endif
+
+/* Wrap the encoder reset function */
+void resetEncoders() {
+  resetEncoder(LEFT);
+  resetEncoder(RIGHT);
+}
+
 #endif
 
diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h
index bf5f8e1..0e3248c 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h
@@ -1,32 +1,7 @@
 /***************************************************************
-   Motor driver definitions
-   
-   Add a #ifdef block to this file to include support for
-   a particular motor driver.  Then add the appropriate #define
-   near the top of the main ROSArduinoBridge.ino file.
-   
+   Motor driver function definitions - by James Nugen
    *************************************************************/
-   
-#ifdef POLOLU_VNH5019
-  /* Create the motor driver object */
-  DualVNH5019MotorShield drive;
-  
-  /* Wrap the motor driver initialization */
-  void initMotorController() {
-    drive.init();
-  }
-
-  /* Wrap the drive motor set speed function */
-  void setMotorSpeed(int i, int spd) {
-    if (i == LEFT) drive.setM1Speed(spd);
-    else drive.setM2Speed(spd);
-  }
-
-  // A convenience function for setting both motor speeds
-  void setMotorSpeeds(int leftSpeed, int rightSpeed) {
-    setMotorSpeed(LEFT, leftSpeed);
-    setMotorSpeed(RIGHT, rightSpeed);
-  }
-#endif
-
 
+void initMotorController();
+void setMotorSpeed(int i, int spd);
+void setMotorSpeeds(int leftSpeed, int rightSpeed);
diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.ino
new file mode 100644
index 0000000..c822ef5
--- /dev/null
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.ino
@@ -0,0 +1,62 @@
+/***************************************************************
+   Motor driver definitions
+   
+   Add a "#elif defined" block to this file to include support
+   for a particular motor driver.  Then add the appropriate
+   #define near the top of the main ROSArduinoBridge.ino file.
+   
+   *************************************************************/
+
+#ifdef USE_BASE
+   
+#if defined POLOLU_VNH5019
+  /* Include the Pololu library */
+  #include "DualVNH5019MotorShield.h"
+
+  /* Create the motor driver object */
+  DualVNH5019MotorShield drive;
+  
+  /* Wrap the motor driver initialization */
+  void initMotorController() {
+    drive.init();
+  }
+
+  /* Wrap the drive motor set speed function */
+  void setMotorSpeed(int i, int spd) {
+    if (i == LEFT) drive.setM1Speed(spd);
+    else drive.setM2Speed(spd);
+  }
+
+  // A convenience function for setting both motor speeds
+  void setMotorSpeeds(int leftSpeed, int rightSpeed) {
+    setMotorSpeed(LEFT, leftSpeed);
+    setMotorSpeed(RIGHT, rightSpeed);
+  }
+#elif defined POLOLU_MC33926
+  /* Include the Pololu library */
+  #include "DualMC33926MotorShield.h"
+
+  /* Create the motor driver object */
+  DualMC33926MotorShield drive;
+  
+  /* Wrap the motor driver initialization */
+  void initMotorController() {
+    drive.init();
+  }
+
+  /* Wrap the drive motor set speed function */
+  void setMotorSpeed(int i, int spd) {
+    if (i == LEFT) drive.setM1Speed(spd);
+    else drive.setM2Speed(spd);
+  }
+
+  // A convenience function for setting both motor speeds
+  void setMotorSpeeds(int leftSpeed, int rightSpeed) {
+    setMotorSpeed(LEFT, leftSpeed);
+    setMotorSpeed(RIGHT, rightSpeed);
+  }
+#else
+  #error A motor driver must be selected!
+#endif
+
+#endif