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Here's a closeup of the electronics. I'm using the Maxi Dual 10A H-Bridge from the Robot Store, and the MegaBitty purchased from the Mark III Robot Store. The MegaBitty includes a couple of H-Bridge chips, but they're only rated for 500 ma, so I didn't install them and just soldered wires from the appropriate pads.

The arrangement of the connectors on the MegaBitty wasn't convenient for all of the sensors that I had, so I created a little breakout area on a Radio Shack perfoard to rearrange the connectors the way I wanted them.

The MegaBitty has a 9v battery dedicated to it, and the motors have 10 NiMH AA cells. Bigger...

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