The interface uses a PIC16F876 microcontroller and not much else. It performs channel mixing, current limiting, and noise rejection. Push the stick forward, both motors move forward, move the stick to the left and the robot moves left. It makes the robot very driveable. You can use a wheel transmitter meant for cars to control it, in other words, one channel is throttle(both forward and reverse), the other steering. Speed control is smooth, and the H-Bridge transistors are sensed and protected cycle-by-cycle against over-current. Noise from the receiver, whether the transmitter is on or off, is ignored. Temperature sensing is also possible, but I havent incorporated it in this version.