As I sit here with a tricked out Rover 5, a 4channel motor controller and a Mega 2650, it occurs to me just how much I'm asking of a poor little, (well, for an Atmel--Maybe not so little.) microcontroller.
And so I wonder. . .Have you given any thought to a "Spider Due?"
Apologies if I've inadvertantly stumbled into the Dagu vault of secrets.