The Arduino Leonardo USB board is developed on the basis of AVR ATmega32U4 micro-controller running at 5V/16MHz. The Atmega is pre-programmed with the Arduino boot-loader that allows to upload code to it via USB using the open-source Arduino development environment.
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Vex Robot by George Theall, George Ayer, Finn Snow : 4 Steps
robotic arts motion and motors fall 2014