We used the two ME 210 supplied batteries, each of which was 7.2V. We wired them in series for a pack voltage of 14.4V.

We used a simple potentiometer-toggled DC-DC converter to supply a 5V Arduino input from our 14.4V battery pack.

We opted to use the Arduino Teensy for its simplicity. It satisfied our powertrain needs, offering more than the minimum four digital PWM output pins we needed. By using the teensy to send PWM commands to the forward and reverse drivers of each motor, we were able to control the motor with translation and rotation.

We opted for the Vex Robotics 2-Wire Motor 393. This was the motor that we found would supply the most torque for given current, useful for pushing against the wall and for pushing against opposing robots

We used Stainless steel square shafts which fitted into female square collars at the motor and wheel in order to guarantee the torque transmission from motor to wheel.

We used omni-wheels to drive our robot because of their bidirectional driving functionality. Because of our modular robot design, this simplified our IR beacon-finding and wall-finding algorithms by reducing the number of turns necessary. Because angular acceleration was a source of error for the robot due to slipping at the wheels, reducing the number of turns the robot made increase the accuracy of the robot's path.