HI,
the projects looks funny, and I'd like to do it for free. I've used the lowest possible bid permitted by the site.
What I ask is just to reimburse me the HW: I suppose that a couple of boards will be enough plus motor & encoders, IMHO for this kind of projects either you've the HW or any software will just fail since there are simply too many "unknowns" when you work in the real world !
When I finish I'll forward you both code and wiring + photos.
Cheers,
Alex.