I have some good news and some bad news here for you today. The good news: I found the problems! The motor driver needed a common ground ( wasn’t broken, I’m just stupid) and the ir remote library is interfering with the servo library, as they are both trying to use the same timer on the Arduino. I don’t really have any time logged for this since furious forum searching doesn’t count towards Stardust, but I can promise you that after two hours of checking docs and datasheets, as well as running a test that took like ten minutes, I’ve nailed down the issue. The bad news: there isn’t really a way to actually fix it, only to get around it. I could use a second Arduino to receive the values and send them over serial for the main board to use, but I’m not loving the idea of sacrificing another board to this project. I need the two working Nanos I have for other projects. Our other option is to abandon the ir receiver altogether and use Bluetooth instead, which is fine but will require a steep learning curve, as I have no idea how to make an app. MIT App Inventor, here I come I guess. Since my partner in crime is still at camp until next Sunday, I won’t be able to make a decision, so I guess this is it for now. More on the amazing adventures of R2-D2 will be shared when we have something to share.