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Matt, doesn't the uP take an almost insignificant amount of power? When compared to a motor, a bunch of transistors can't take more power. And i think once the voltage drops below 9 volts, you get the low battery warning, and you start having some unexplained errors (the uP is slowly dieing). once it drops below 8 volts, i think it gives a basic error, which has the effect of shutting down the robot, cause once a basic error occurs, you must reset or power cycle.
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