This is the improved version of the Edwardo V2.0 posted by Grimjack1973. We are working in colaboration and had to change the chasis design due to a few flaws. We have finished assembly and moved onto programming however I have hit a problem in the programming area. The aim is to allow the robot to completely non-autonomous roam around while using the pan-tilt servo system to move the Sharp IR sensor located at the front to perform obstacle avoidance. I have provided a text file of the sketch along with as much information as possible in the "additional information" section and shall be happy to provide anymore if needed.