Xtreme Terrain Rover-1 PS2 Controller+nRF module RC Robot

UPDATED:This is an All terrain Robot I made for the ROBOWARS @ IIT India.
 Came out to be a Winner! so I thought of posting it here.

Locomotion:

Its powered by 4x 200rpm DC geared motors- 18Nm cm Torque 12v

Custom Made Tracked Wheel Chain System.

Speed controller is a Custom Made MOSFET based with Optocouplers.

Battery:

Uses 12v 5Ah VRLA Battery from my Motorcycle HONDA CBF125.

Added a Tiny Precision Voltmeter on top of it to monitor Voltage Continously.

RC Controller:

Controller is a PS2 Dualshock wired Controller which is interfaced with an Atmega 328p Microcontroller and attached to an nRF24lo1+PA+LNA module.

All fitted inside a Playstation 2 Multitap Adaptor Box - I call it the Black Box.

it is powered by Samsung Li-ion cell 2600mah.

Both wired and Wireless Analog Controllers can be attached to the Black Box.

Wireless 2.4GHz Range is upto 1200m (1.2KM).

Lifter:

Also there is a Lifter attached to its front powered by 2 DC Geared motors 10Kgcm torque

controlled by transistor H-Bridge.

It is controlled using PS2 controllers L1/R1 and L2/R2 buttons.

Its supported on 2 Aluminium Rods.

And it goes all the Way up 90 degrees.

Let there be Lights!!

Ahh the Lights! yes, it has Front headlights (that can also be switched wirelessly :-)

The Back:

I'll be updating rest of details soon and will also be uploading a video in a few days.