I recently took some time to refactor my failed Arduino robot code with much better results than previously. I trashed all my old spaghetti C code and created a new motor controller class design, plus a new state machine to govern the behaviour of the thing! Here is a clip of it in action now:
Latest Robot Video
Also, just received my LinkSprite CuHead Wifi Arduino shield (clone of AsyncLabs shield). Already have it on a test arduino, creating a wireless adhoc network with a simple webserver that takes page get requests and performs beeping tone actions based on those requests. All silly fun for now, but eventually this shield will ride atop my robot and interface to the world!
More later ...