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Talking about evolution, my first successful BEAM robot, I am very exited how well it went. I was planing to build a Herbie but I ordered the wrong parts. But the LM324 was described as a similar chip to the LM386, so after some investigation and head scratching I designed my own. I have no electronics background and I have been building robots just for a couple of weeks. My main source of information is Mark Tilden's great book, which gave me lots of idea and inspiration The version v1 of the circuit ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/ez-8-d-v2-light-follower