Build a PICAXE robot rover
This robot was built using the PICAXE controller and has a homebrew line sensor that uses light dependent resistors (LDRs) to find its way. The custom PICAXE board included an L293 driver chip and ran from battery power. Check out the link for details on the board and integration into the LEGO Mindstorms setup.
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Original post by Jonah Brucker-Cohen