Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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Smash, a motor controller is a smart device. It takes care of the PWM, encoder counting, acceleration, slowing down and so on while the main microcontroller is free to work on the more important things.
i was just saying that it is going to be hard to set up the I2C software.