I have just one question about this project: power supply. 9v batery non-rechargeable I think drain fast so I dont know what can I replace this 9v batery. (pls don't advice me to buy 9v batery rechargeable because there is very expensive...)
If you got rid of the 298 driver, and replaced it with something more 21st century, you wouldn't need a 9V supply. (unless you're interested in keeping the robot warm)