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This robot uses Mark Tildens H-Bridge design for motor drivers. The brains of the robot is a HEX inverter that until the Sharp IR detects an object the motors go forward. This is the schematic for the SHARP IR detector. I have all the schematics, but i dont have a scanner to get it off of my notebook so i apologize for the quality. the state of the motors are either forward or reverse depending if the IR detects any object. output 2 and 4 go to the forward and reverse input ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/servo