Technical:
Alright you code junkies! Stop jittering around, I have your fix. You can download the source code below and also view my crudely drawn schematic of the robot! But don't laugh, I was a CS Major, electronics is just a new hobby of mine.

Source Code:
Download version 1.0

Schematics:
Here is a crudely drawn schematic of the robot.

If you found this project interesting or helpful and have the means feel free to donate! Computers and bandwidth are expensive.