RoboCup is a worldwide competition designed to advance robotics and Artificial Intelligence research through a friendly competition. In this paper, sub-system flow analysis based on the robo-soccer competition requirements is detailed. The robot kinematics equations for planar motion in the X-Y plane are presented. Because the motors can operate individually or in groups, Broida's method was not good enough to tune the PI controller. Tuning methodology for the robot is also discussed. Other design factors needed for the final design has been identified. Mechanical, electrical, software & system integration aspects discussed in the paper. Experimental results are also presented and discussed.