From concept to commitment to construction is taking awhile but this project is beginning to take form. The 500 Roomba wheels took a lot of time to hack and replace the stock wheels and axles with larger wheels and longer stainless steel 1/4 diameter axles as well as a combination of shielded and sealed ball bearings. The circuit board has also been hacked and 4 leads added to the on board H-bridges to add PCM control that the EZ-B controller will use to run the drive motors. The wireless camera and sonar sensors will also be added as time allows before a test run is attempted.