[Dick Linn]

We used pencil sketches, chalkboard and dry-erase board mostly. I used the Visio program that was included this year to do some fairly detailed 2-D layout work. It is relatively easy to use and very quick once you get the hang of it. They used to call it "the drawing program for the rest of us" or something to that effect. I highly recommend it. It is pretty easy to create objects (motors, bearings, wheels) and scoot them all around to see where things fit.
I do wish they had included the professional version with all the engineering, software design and electrical templates. Still, you can create your own templates, which I've found useful over the years.