Spent the weekend tracking down electrical gremlins... everything from a bad cap to a drained battery :)
The PCB from express PCB came in on the 2nd, and I am very happy with the results. They look SOOO much better than all the wires all over. Also received two more servos from acroname, so I can mount the range sensors on them.
I finished adding the OOPic programmer's manual to the oophq.com site, and it can now accept user comments and additions. I've still got to fix some of the internal links, but I have to wait until the Object documentation is installed.