This is the robot at its most finished state thus far. The solar arrays are from Harbor Freight and trickle charge the drive batteries (NiMH). There are limit sensors and switches at both ends, as well as limit switches on the turning mechanism so that it never tries to rail the turning. There's also a car door remote receiver so that I can start the program remotely. I never got the bluetooth connection working so that I could update the program in real time, but bluetooth was far less reliable in 2007 when I was working on it.