I slapped Wedgy together in a week. Most of the time was spent on the motor arrangment. Bigger...

Here you can see the motors, and the CPU board. A single 9v battery slides in over the left wheel. Bigger...

Everything is much easier to see with the cover off. The CPU board is one of Larry Barello's AVR Robot Contoller boards. I had an older 1.0 board, which I put a Mega-16 on. Bigger...

I used a couple of servos in an interesting fashion. Bigger...

I gutted the electronics from the servos so that I could sqeeze them together. These were originally Hitec HS-945MG servos, that I put a 925MG geartrain in. Bigger...

Heres the bottom view. The piece of aluminum is that the motors are mounted to and the two holes in the aluminum are how it mounts to the chassis. Bigger...

This is the concept I was trying out. Take a cylindrical rare earth magnet (the darker ring) and use them for wheels. I purchased the magnets from "House of Science" in Seattle. The hub as machned from aluminum and I used Loctite to secure the hub to the magnet. Bigger...

Here you can see the cut down servo horn which was used to attach the hub to the motor. The magnet wheels roll suprisingly easy on a steel surface. I originally made the tire out of A-20 polyurethane, but it was too soft and the magnets would deform it right off the wheels. I upgraded to A-60 and things are much better. Bigger...