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I'm not fond of modified servos for drive, they're require a pulse just to run. I've used the hardware PWM in the 18F2525, easy to get accurate speed control.Mongoose with standard 2x16 LCD and concept breadboard expansion
not sure id like to have my expencive circut board facing out on the front of the bot... a cover for it might be a good idea, like a pvc/plexiglass plate