Tamy 1.1

Ok so I have made my 'Start Here' robot on tamiya tracks, twin geared motors and plate set. The program is based on the 'Start Here' project with a few changes to make it more suited to what I wanted it to do. I've added an extra IR sensor to 'Look' down so it wont drive off edges. As you can see in the video it drives along then stops and checks the area (in the middle of no where) then changes direction (I'm not sure why it does this). Next will be to add bumper switches, power switches and an Ir receiver. The motors drive is a little unequal and pulls to the right so I need to learn about pwm. I've read the manual on the subject but it's not very clear to me how that works.

I have found the picaxe project board a little fustrating as you are restricted to certain types of plugs, so I will look into making my own board or adding the project board to a larger PCB and run wiring from the project board to the PCB and have molex connectors on the PCB. Suggestions would be appreciated.

Does anyone have info on a PCB schematic that can be printed to make home-made boards for 28x or 40x chips? Perhaps with motor controller and/or H bridge for higher amp motors on one board?