I added an IR detector and an XBee module on a breadboard temporarily to test. I'm driving the bot around using a remote control (like for a tv) and while it drives around it reports back to my PC via the Xbee.
The code is very basic, it just turns in 45 degree inrcrements and moves forward/backward one foot each time I hit a key on the remote. That's why it's stopping and starting. I also changed the speed via remote a few times (some of the longer pauses).
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