Just added a page with more advanced Arduino code (see the link on the right). This allows the same ‘spinal column’ to receive either simple or complex messages (e.g. just “go forward” or to set specific motors to specific speeds). It can also be used to control a number of different body types: skidsteer with two DC motors, RC cars with steering and drive servos, and skidsteer controlled with two servo signals.
This code can be installed on the Arduinos on all of our robot bodies, regardless of the actual robot body (assuming it matches one of the three expected configurations). And can work with either very simple “brains” (ones that just give forward, left, right type commands) or with complex “brains” that need to be able to specify specific speeds for each motor.