Weight= 1.8Kg Hight= 95mm Width= 243mm Length= 225mm Ground clearance= 25mm Power: 12v 1.1Ah NiCd >From this we generate 22V @ 200mA, 6V @ 300mA, 5V @ 200mA, -6V @ 30mA, and -15v @ 10mA Running time= +- 4 Hours Top speed= 0.2m/S Torque= ?? The robot drives up a wall and falls on its back if I allow it. Sensors and IO: Optical feedback from left & right drive motors, Motors have PWM control 4x 40Khz IR obstical avoidance, 2x 40Khz sonar range finding, 5 element line following sensor, left and right light level sensors 2x audio mic's (L&R)with software controlled gain, 1x PWM audio out(speaker onboard) ambiant temprature sensor(-45 to 135)deg C angle of tilt X & Y,(1deg resolution) battery (voltage, temprature & current), 4x bump switches 8x function keys on the sides of the 240x128 graphic LCD display (could not afford a vector compass),it needs it. Frame: Aluminum tube and angle chassis with spring loaded swivling left and right tracks for mobility Processor is an Intel 87C51GB 64PLCC running @ 18.432Mhz RAM= 160KB, ROM= 64KB and a Xilinx XC9572 CPLD device. The design is a test bed for my self to see what I can acomplish. I will then apply what I learn from this design to a more functional design. cost: +- R2000-00 South African Rand Build time: +- 550 Hours Still lots of programing to be done. http://www.webtronics.co.za/shaun_p/ Email: sparsons@iafrica.com