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Boatduinode! Hardware description: https://github.com/supertunaman/Boatduinode/wiki/Hardware Video of BoatTest.pde: http://vimeo.com/20106407 Video of Boatduinode in action: http://vimeo.com/20150885 I'm using this same repo for deployment, so excuse the mess. Let me show you around. boatduinode.js - the node.js app, which handles connections and commands and such boatduinode.rb - the ruby script which acts as a client for the node.js app, and translates commands from there into serial commands Boatduinode.pde - receives serial commands and interfaces with the RC remote BoatTest.pde - simple arduino sketch that pilots the boat in a most drunken manner web_socket.rb - smallish websocket lib for boatduinode.rb Some notes: The app uses socket.io, which doesn't seem to be well-implemented in ruby anywhere (certainly not client-side). As such, the script simply picks out commands it's looking for and relays the rest. This suffices, as all I needed was to receive five different commands and respond to the heartbeats. Node.js doesn't seem to care beyond that in this case. The motors turn on when I pull the pins LOW, and off when they're pulled HIGH. Go figure.