This is my senior design project, an omni-directional robotics platform based on the kiwi drive design, using custom stepper motor drivers, that maps a room using a Microsoft Kinect sensor. My partner for the project did most of the vision and high-level code using ROS while I wrote the AVR (ATTiny2313) code that drives the stepper motor control circuits. I designed and built these boards using the toner transfer method and they came out quite well. The boards interface to each other via i2c and then one of the three interfaces via serial to the PC. Any of the three can do this, because the connected board is put into master mode by the PC to talk on the i2c bus. In the lower left you can see the PC interface, which is running in RViz. This is the ROS mapping and navigation stack. On the top right you can see the robot driving through a basic course of obstacles we were using to test the mapping algorithm. This was filmed at Missouri University of Science and Technology, on the third floor of the Engineering Research Lab outside of the university robotics team's lab, in the back is Jomegatron, the team's competition robot.