I had a lot of work at school, so the robotic project was paused. Now there're winter holidays and I found some time to try the TMC222. This Chip is awesome. It was very easy to communikate to it because of I2C. Together with the Stepper bought at ebay it is a good actuator for the robot. Now it's time for building the second one and of course the chassis. I decided to build a robot with a base like the one of a tank.
So far, there is a lot to do but not enought time ;-)