Shown at
      left is the robots initial turn on appearance. As I add instruments
      to the top plate, the appearance will change and I will update
      this image.

      
Update 11/25/10:
           

      
Well, the results
      so far are not as expected! While I am able to control the speed
      of each wheel and slow down the faster one such that the robot
      will travel in a straight line, this process takes a few seconds
      and every time the robot starts and stops especially initially,
      it is moving in a curve. There is no way to sense the wheel speed
      and correct for it right off the start such that the robot always
      goes exactly straight. The solution is to dump the dual servo
      drive and replace the drive with a system that will always go
      straight with no input from the sensors or changes in motor speeds.
      Such drives exist, and I will be perusing them next. 


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