Squirrels have fuzzy tails.
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Assuming you wish to have an umbilical cord running between you and the robot, the two switch scenario actually IS possible. What you have to do, is wire up a DPDT switch as explained below. one switch per motor.Firstly, solder a wire diagonally from the bottom left pin of the DPDT switch, to the top right pin of the same.Secondly, solder another wire on, this time from the bottom right to the top left.Thirdly, solder the motor to the two central pins and two wires from a power source to the top left and top right pins.This setup is most effective if you use momentary centre off DPDT switches.
stepper motors have poles, google it. you cannot run it like a dc motor, it requires a driver circuit.no idea google for a datasheet on that part "ULN 2003 AN".rpm is a measurement of speed. it stands for revolutions per minute.