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Hi - I made this mostly wooden bot in 2006. I used a couple of small scrap motors. Maybe I had them from tape recorders. As I had no experience I started without gearing. That made some marks at the baseboards. I added some gears, but it was never very successful. I used the L293 Quadruple Half-Drivers. I also use a voltage regulator. To save pins, the 3 bumpers are connected thru resistors and read by an analog pin. The motors could just be turned on and off in forward or reverse ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/my-first-something