So now he's almost finished, my CD-ROM-tray-based robot. The code is in an early state, but it works quite ok. Just need to adjust the P/D-constants a bit maybe. Here is his entry on Letsmakerobots.com.The code will be uploaded here and on LMR when I'm finished with it. The only thing left to do on this robot is to mount the Arduino Mega a bit better and get a power-supply for it(since I don't mix motor and sensor/mcu power, saves a lot of trouble). Pictures are mandatory of course. From the back.Bottom And from the sideEnjoy!