I added feedback from the motor encoders this week, which allows the robot to know that it is moving. Previously it only knew it was tilted, so it wanted to run away if it was only tilted slightly. I also wired up the batteries, which were salvaged from a less-than-optimal dell laptop battery. I’ve still got some work to do, but the velocity feedback is now countering it’s tendency to run away. The center of gravity is still really low (I’m waiting for mounts to get made to move the batteries up to the top), so it can still outrun itself really easily. Next on the list is to add control from the PC via the bluetooth module that is currently attached.