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Hi, I remember at the beginning of my project, I am registered me on letsmakerobots for have your opinion and help me achieve it. After finalizing my robot, I created a tutorial that might give you ideas. Feel free to ask questions!! http://www.authorstream.com/Presentation/pradelou-637024-robie-arduino-plateforme-4wd/
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/robie-4wd-arduino-platform