[efoote868]

Some advice on wiring -

If you don't already use them, Anderson power pole connectors are a must for modular components. Also invest in a good crimping tool.

For sensors and other components requiring small gauge wires, I'd recommend hacking up a DB9 or DB25 cable (depending on how many connections you need) for a quick disconnect.

Lastly, design your robot layers with wiring in mind. Keep wires going to motors in your drive train as short as possible, but equal in length. Also remember that wires add weight to your robot, and its weight that you can't Swiss-cheese at the end.