I started building this driod in November for 24 - after MANY hours of hard work he's mobile and moving on his own. His electronics are based on Shadow RC (which is a modified verion of Shadow MD).
Some useful links:
Shadow RC - Astromech Forums: https://astromech.net/forums/showthread.php?45616-Shadow-rc
My driod builders log:
https://astromech.net/forums/showthread.php?45283-Aceman-s-R2-My-3D-Print-Journey-Begins
MrBaddeley 3d Printed Droids Facebook: https://www.facebook.com/groups/MrBaddeley