Fric and Frac were designed to run with Swatch stepper motors. These motors are VERY low power, they can be run directly from the STAMP CPU that is the brain of each robot. They can run 6 to 8 hours on a 9 volt LiMH battery. Since I posted Fric, I've modified a few things. The biggest mod was to add additional gear boxes to the motors. While significantly slower (about 3 ft. a minute), both can now handle carpet and uneven ground, although they still perform on my linoleum floor. I also added whiskers directly to the Cds cells. When I take a light reading it will be zero if the whiskers are closed. Additionally, both now have sockets to attach I/O boards. Frac has a board that adds serial eeprom and a 4051 analog switch (reads 8 pins for a cost of 4 stamp pins). Now that I have built the hardware I have to work on the software. Has anyone ever tried neural nets with a STAMP 2? I also want to try a smaller robot. I have a few ARV 2313 chips, I just need a few more motors (and some cash)... Email: mwalimu@sbcglobal.net