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When I started R3M3, a month ago, I was using a BS2 for the core intelligence. Aside from price, I enjoyed the simplicity of the Basic Stamp. However, I have since been turned onto the cost-effective-tiny-form-factor PICAXE. So I swapped out the BS2 for a 40X and have used a 14M and an old NES Advantage as it's core controller. Upcoming upgrades include beefier 36mm BaneBot gearmotors, quadrature encoders, and closed loop data logging.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/r3m3-version-i