Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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libusb is a real pain. I used obdev firmware usb. That's how I found out about libusb. After some work you can compile both the firmware and the host-side software.they both work, and with some understanding of C, you can modify them to suit your needs. Just use a converter, like the FTDI chip.