References

The Definitive Reference:
Heisermann, David L: "How To Build Your Own Self-Programming Robot"
TAB Books #1241
ISBN: 0-8306-1241-6
The book has been out of print for years, but you can find copies for sale second-hand:

http://www.amazon.com/How-Build-Your-Self-Programming-Robot/dp/0830612416

Atmel ATMega16 Handbook
http://www.atmel.com/Images/doc2466.pdf