In this chapter we have discussed the interfacing of motor that we are using in our robot. We have seen motor and encoder interfacing with a controller board called Tiva C LaunchPad. We have discussed the controller code for interfacing motor and encoder. In the future, if the robot requires high accuracy and torque, we have seen Dynamixel servos that can substitute current DC motors. In the next chapter, we will see different kinds of sensors that can be used in robots and its interfacing.