(1) The circuit board at the top of the picture is the Bluetooth to serial module. The left most, rectangular chip is the memory with the

       Bluetooth control software from Cambridge Silicon Radio. The square chip is the CSR Bluecore 4 microcontroller and radio

       hardware BC417143BQN, supporting Bluetooth v2.0 and EDR. The gold zig-zag trace at the top right hand corner is the antenna.

(2) The main 32-bit ARM controller that runs your programs, an Atmel AT91SAM7S256. This includes Flash memory/file system,

       RAM and the USB Device interface.

(3) An 8-bit Atmel ATMEGA48. This manages the pulse width modulation (PWM) of the motors, and uses the feedback from the NXT

       motor rotation sensors to tune the power to each motor.