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Well folks, Here's another entry based on Fritz's great code. One goal I had was to not have anything soldered directly to the main board. Instead I installed another board for hard connections and to allow me to expand in the future. I am thinking of this as a great, solid test bed for additional sensors and experimenting with code.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/first-real-one