Arduino controlled 4WD robot

This is the code and files developed for use on my Sainsmart 4WD robot chassis. Main site info can be found here: https://www.mkme.org/index.php/arduino-sainsmart-4wd-robot/

YouTube videos on the build and code here: https://www.youtube.com/playlist?list=PLxyM2a_cfnzjRXpokx_aADmTFS94OSxGf

I have now broken the code into two variants:

1. Automonymous driving and manual driving via bluetooth
2. Simulated Mars Rover/Robot which accepts commands via serial/bluetooth, feeds the information back to mission control for distance etc and as well moves as per command but will stop if an obstacle is encountered and report back to mission control.