I've purchased this robot and installed this firmware on it. It definitely took about an hour and it was a little tedious with having the push the wires into th

I've purchased this robot and installed this firmware on it. It definitely took about an hour and it was a little tedious with having the push the wires into the tiny pins (I had my orientation wrong for the pinout). That said, once it worked, it's been working well since then! My only note is that you do need to make sure to keep the sensors clean or the map can "drift" and it'll stop understanding where it is. For me, to fix that, I had to reset the map before it would work reliably again.