Got mine working no problem. Laser cut steel and 3d printed wheels, o-rings made really nice tires. I also mated an RC receiver directly into the A0 A1 ports, and getting PWM signals went super well. This is great code. Sadly, this is the fourth bot I've built, and the only one I got to stand up. My previous platform used a teensy. (Note the third pic with the big wheels). I sure could use some help. Any takers can contact email@example.com!!!