Here remains the codes to use arenabots arduino comm
info about mini car robots used in the initial research of Procópio's PhD Thesis
the car was built based on a remote controlled car, which was dismantled and the chassis and the motors were kept.
The electric circuit comprises a arduino fio shield with a lm238 to drive the motors
Firmware and similar code
arduino firmware receives a package from xbee and parses it to obtain the direction and traction commands