The Turtle benefits of two important improvements compared to many similar projects like
1) the shaft of the motor is only 1mm and the motor is inclined by less than 30 degrees.
Even with 1mm "wheel", the speed with a motor spinning at 12000 RPM will be 60cm/second, 20 times the robot length, rather fast for a small animal. With larger "wheels" and PWM or on-off control, no hope to get a good behaviour.
2) the motor is controlled by PFM, allowing very slow speed. With the same motor, speed can be 1mm per second.
What is PFM? see http://www.didel.com/PFMversusPWMforRobots.pdf
At power-up, the Turtle a waits for IR control of for actions on the push-button.
IR control uses a 3-channel proportional scheme successful in 2005 for less-than-10 grams indoor flying models. It is easy to implement on Arduino http://www.didel.com/Ir/RolloverControlWithArduino.pdf
On the Turtle, decoding is made with a state machine. Synchronous programming handles the PFM in parallel.
Ballet demos are list of bytes that look like micro-controller instructions. One instruction sets the speed of the 2 motors (3 positive and 3 negative speed per motor) and the 2 possible duration of movement. Other instructions makes the robot spin at partial and full speed. More behaviors are programmed (it is more fun that writing a ballet!).
Ask for documentation if you read french.
The software uses less than 700 instructions. Ballets fill the rest of the 1K Microchip PIC 16F630.