i just went through all 22 pages of this project and i wanted to say thanks kas!
your project is totally inspiring. i just got a new arduino kit for my 10 year old son and your cube project is something we're definitely going to work towards.
i might even try to build a 2x2x2 cube solving robot, as i have never seen one of those before!!
i think the programming for it would even be easier than one for a 3x3x3. it uses the same sort
of standards as your project; basic singmaster notation, and has only corner pieces.
thanks again for the great project and inspiration.
derek...