A few quick snaps of the Office Robot. The motor control boards are essentially complete (working out the kinks in the firmware, still). The connection between the motor control boards and the web interface (courtesy of a Raspberry Pi) is obviously still pretty much crap. But it does work, and I’ve transferred the schematic to Eagle. All those jumper wires, and pretty much everything that’s plugged into that breadboard will be replaced with a single PCB!
The motor control boards are a little prettier. There’s one for each set of wheels, and an interface board in the middle.