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Paul Flint and I came across a ranger II storm series wheelchair manufactured by invacare, as we are rather cheap guys we spent a couple months reverse engineering the motor control board. Built an arduino shield to send the control signals to the motor controllers. and you can see snobot Mark I in the picture and Mark II in the video. all schematics have been released under GPL v3 and more information can be found at http://docbox.flint.com:8081/snobot
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/ranger-ii-snobot