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I'm tinking the same. Also the whole steering would be much simpler that way.
What if you put the magnets into the wheels?
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This is a really nice and simple project!My problem with these simple Arduino voltage measuring circuits, that they are not really accurate. You need to add an external reference voltage source.Something like this.
It will be fun to get into the house, when there is a power shortage, or something breaks (because in my experience, most of the DIY things made by amateurs are not stable). But yeah, nice Instructable!