Well in an effort to use Doxygen and sweep sensors I have come to the conclusion that I need to revisit my previous motor control code.
Specifically I need to drop or slow down or generally tweak the "randomness" of the forward motion watchdog timer. [This monitors how long we have been travelling forward and compares against a random value - this value is too short at the moment].
On another topic I think I will obtain a Tamiya Hornet to modify into a robot base for GPS playtime.
It has a ESC and nice suspension and is a good base with it's bathtub chassis. I propose to control the servos with an AVR of course (unless I fully flesh out the NGW100).