The latest improvement I’m working on is an easier way to steer the robot using the iPad’s accelerometer. It is a challenging (and time-consuming) task! It took me some hours to compare different options and understand how to use the CoreMotion framework to read data from the internal accelerometer. A really tricky part was animating the DrivingNub based on the X and Y readings from the meter, but it is working and can drive the robot. Once it has been fine-tuned, I will post some pictures.