Step 3b : Construct the Controller
Original Link: http://www.societyofrobots.com/step_by_step_robot_step3B.shtml
Notes and Modifications:
Once again , Roboduino users have it really really easy. Just skip this entire step, it doesn't apply to Roboduino users since they have the Roboduino - the best microcontroller board for the ATmegax8 series.