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The video above goes over everything you need to build this simple rover. This post will only provide the wiring diagram and sketch for you to use.
You can use the wiring diagram above to connect everything together. Keep in mind that you may have to swap the motor wires if the motor rotates in the opposite direction. Please watch the video to learn more.
The Arduino Nano needs to be programmed in order for the rover to function. I have written a simple motor/rover driver library that can be used for your projects. You can download the library along with a demo file using the link below: