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I've just stumbled on this picture from last year when I build a Lego RC car. It is motorized using the Lego Mindstorm 2.0 Brick and two motors. (one for steering and one for propulsion).
For the controller I simply used the Lego Mindstorm remote.
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It only had one speed: darn slow. It didn't stopped the kid from playing with it for days.
Edit: you can also see my Mini RC car project here (Using Arduino, Bluetooth & Android)
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