RoboVac

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hi there, need build robotic vacuum cleaner, want have real time clock in completes vacuum cycle (around whole house twice) @ 11 o'clock. want attach ping sensors 1 of servos it's checking if it's close. how set travel around house? have input individual micro steps eg. 1600 left 1500 right on... or there way so? eg giving house map. can please help?

vacuum have this
http://www.stihlusa.com/vacuums/se61.html

arduino uno on way...
motor shield...
http://www.adafruit.com/products/81

what torque stepper motors should use

will

what battery life of vacuum cleaner?
its mass?


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