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I also got two XBee's for wireless debugging and setting the PID constants wirelessly:

And two XBee adapter kits:

These are not necessary, but I recommend them, as they will save you a lot of time when finding the PID constants

I also used:

The robot itself is made of three pieces of 215x75x7.5mm MDF and four threaded rods. The distance between the plates is 7cm at the bottom and 7.5 at the top. In total the robot is 27cm high including the battery. See the 3D model for more information:

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