The large servo I had to turn the wheel was problematic in that it jittered when standing still under power and had a hard time with the load even though it was rated at a much higher capacity than that of the robot's weight.
I also had a few issues with the drive motor controllers.
So, in the end, I replaced them both, again.
Now, I have rewired the robot to meet the requirements of both motor controllers, and have a 12v battery system in place with a DC-DC 6v converter to power the function controllers.
Also, since adding an EZBV4 controller, I now have speech recognition enabled.
I am happy to say the basic motor controls are working, and here is a short video of that functionality.
I will detail all wiring and controls a little later this week.
There are still some commands that are not defined, but the vocabulary will grow. I will also most likely change the voice level and add a nicer microphone.
I also have created a web app that will allow the control of the robot from my cell phone...more on that later as well.
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