sir, i am still novice to this field of robotics. we are designing micromouse. but we are facing problem in chasis designing. asyou can predict we need to change speed of micromouse during turning and make it to halt also when there is no forward path. for all this purpose i am thinking of gears. basically i have a 6 tyre design in which middle 2 is used to drive the wheel and rear and front tyres are for turning(for forward and reverse path). but i don't know how to command the gears through software. in my program micromouse would stop when there is no forward path. it means its speed gradually reduces to zero. then how do inform the motor that you have to change the gears to slow the speed. don't mind Is there any interfacing of gears with microcontrooler?