To communicate between the different arduino we first used radio modules. The problem was that the distance to send information was not long enough, and some interference with the motors was possible.

We finally decided to choose the bluetooth module HC-05. For that we need two of theses modules, one master with the controller, one slave with the robot. We first configure the differents modules. The wiring can be seen in wiring diagram called "bluetooth module communication diagram".

The bluetooth module beside giving more range to our controller it gives more stabillity to our communications.