Hi, I finished putting my robotic arm together today, actually just the arm itself and I still have to build the base and mount the electronics and then start programing my OOPic-C microcontroller. Yes, I have decided and bought an OOPic-C microcontroller for this robot and I am going to program it in C. I am calling this robotic arm T.R.A.P. which stands for "Testbed Robotic Arm Platform." I am going to build the base from dark-blue sintra. I don't know how I am going to weigh it down so the arm doesn't tip over but I got to find a method of doing this. The board that I am using is a Mini Atom Bot Board. First I am just going to do some simple motor control programs and then I will advance to other stuff. Also I am going to control it with a PS2 controller. I also have a Sharp GP2D12 IR Sensor that I am going to use as a sensor for the arm to know when an object is present. After that I hope to buy a CMU Vision System and experiment with it. I hope to get somewhere with this project very soon. I'll hollar at ya later.