Thoughts on Speed
Working on Carbot I really miss the speed and built-in capabilities of the arduino. The original carbot was just thrown together and iterated without a lot of thought or design. I ended up with the arduino having one ultrasonic and one infrared sensor for rangefinding, a hall effect sensor on one of the wheels to detect stall conditions, and a bluetooth module for debugging and re-programming. I just added this stuff as I went along grabbing and adapting code. The Olduino version is more like pulling teeth so far. Oh well, things shouldn’t always be easy.