Stella uses the same approach as 'cheap1' did, but to dress her up, I gave her a bow for her hair (a wire bow for her wire hair) and loosely followed the format that Don did for his robot (visit: www3.sympatico.ca/donroy) . To get around some of the expense, I used a STAMP2 on a proto board, an SN75441 Quad Half H driver (with heatsink) for the same motors and gears that drive Cheap1. If you build one of these, you will have to tame the motors a little. I used a simple BASIC algorithm (the pulsout command didn't work well enough for me) to give it about a half duty cycle. That slowed it enough to be manageable. Here is a sample for the BASIC Stamp2 (note that not all subroutines are defined - in particular, the 'hitwall' subroutine is user specific and is shown so you can see how to react if the robot hits something):
'definitions
Mot_R var word
Mot_L var word
ticks var word
ticks2 var word
AGAIN:
Mot_R=0 ' these ports drive Stella in reverse
Mot_L=15
for ticks2=1 to 20 ' this will drive her for about 1/2 second
goto AGAIN
'this is the motor drive subroutine
'call with Mot_R and Mot_L set to the ports that you want to drive
'
DRIVEMOTOR:
for ticks = 1 to 20
CLEAR: