B1-66ER's new found navigation skills! YouTube Video (edited, corrected video link)
And a photo if it: http://digitalhaunt.net/bot/b166er.jpg
I added the 'headlight', and almost totally recoded it. also new, a front bump switch.
Next up, add some photoresistors so the headlight only comes on when the ambient light is low. I noticed the ultrasonic didn't work nearly as well in the dark.
Should have some better quality video up tomorrow when I get my hands on a usb cable ; )