Have you considered running https://github.com/linorobot/linorobot2/#readme on the Scuttlebot? You'd need to add a Teensy/ [Micromod](https://www.sparkfun.com/products/16402) it might be worth it for the fairly mature Linrobot2 software/ Simulation stuff they've done?
Have you considered running https://github.com/linorobot/linorobot2/#readme on the Scuttlebot?
You'd need to add a Teensy/ Micromod it might be worth it for the fairly mature Linrobot2 software/ Simulation stuff they've done?