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I'm working on a new robot with the Rover 5 chassis. Here's my setup: Arduino Uno, Adafruit Motor Shiled w/ 2x SN754410 + BlueSmirf Silver. Here are some temp pics, it's still work in progress. I managed to cook one of the SN754410 while using a 64KHz pwm.. :)
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/rover-5-bluetooth-android