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The LightRobot is a 3pi Robot that has been modified with RGB LEDs, an RN-41 Bluetooth module, and a sonar range finder that is controlled with voice commands and the accelerometer from an Android phone. The source code for the robot and the Android app are also available on the project’s GitHub page.
Featured link: http://www.youtube.com/watch?v=hJi5qhOgbXw
This blog post is a very detailed writeup of some A4988 stepper motor driver heatsinking experiments.