Since the robot was built in a tiny space, debugging the circuit was extremely hard. After struggling with the ‘245 for some time, [James] decided to swich out the BEAM circuit for a Picaxe ...

The analogue joystick was a thrift store find. [Justbennett] wired the trigger and thumb buttons up as the AVR which activate a recycled PICAXE 08M project of his. The PICAXE senses the button ...