Hi Pete,

Dont take the following in a neagtive sense.

Going by your initial posts it appears that steppers, microcontrollers are all rather new to you - or you have not had any working experience with them.

This being the case, the project that you just described is quite ambitious - it has components like co-ordinate calculations based on relative light intensities to navigate. Not impossible but not easy either.

I would suggest that you scale down the scope of your project to match your skill sets.

Start the ground work and then revert for support.

Raghu