This is my first working robot as I have had a few other attempts but had problems with the arduino's motor shield (I kinda overheated a few components to the shield causing it to not function properly). Now after all of the testing everything seems to be working. I am using an SRF05 range finder for distance measurements (an interesting thing with this is that I am using the sample code from Arduino to run it and the code is really meant for a ping ultrasonic sensor but works well with the 3 pin mode on the SRF05), one 5v servo for the head, 2 GM9 motors with wheels (I actually screwed the wheels on and used epoxy because my screws didn't seem to go very deep into the gear motor) , a 1/2" ball caster as a tail wheel, and the chassis is just a sheet of thin wood. It also has a 7 segment LED display that runs during startup and I will probably add code to let it do other things as well. I was going to use the Arduino Mega for this project but ran across a problem, for some reason the Mega didn't seem to like the servo library and so the servo I was using for the head wasn't working, I am going to have to look into that later but for now the Duemilanove seems to be working just fine. Other than that there is not much to say this was a quite simple robot although the coding was took way too long and ended up needing a little help it now runs quite smoothly roaming the house as long as it doesn't find the stairs because it doesn't have any sort of cliff detection.