Autonomous 2/5 scale Dalek

This is my first complete robotics project. I started out with a simpler prototype of the electronics and then set about building the Dalek itself, which was quite time consuming. I started this project in March 2012 and just recently completed it (I say completed, but there are some cosmetic details to take care of and I will probably add some other features - like an MP3 player so it can play well known Dalek phrases such as 'Exterminate!').

If you don't know what a Dalek is, it is a character from the long running British TV series 'Doctor Who'.

The main electronic components are:

• 1 x Arduino Mega 2560
• 1 x Dual VNH2SP30 Motor Driver Carrier MD03A
• 2 x 34:1 Metal Gearmotor 25Dx52L mm HP
• 3 x MaxBotix EZ1 Ultra Sonic Sensor

The software is open source and is available on github here: https://github.com/andygrove/robotics/tree/master/dalek

I have documented the build process on the excellent Project Dalek web site here: http://www.projectdalek.com/index.php?showtopic=9245

I have also put some details on my blog here: http://theotherandygrove.com/projects/dalek-robot/ 

The motors turned out to be a bit too powerful and I need to slow the Dalek down a bit but I'm getting a high pitched whine when I do that and I understand that is something to do with the PWM frequency so that is one of the issues to be resolved. Thanks for looking!