[FotoPlasma]

I way overcomplicated the whole situation with my first post. If this is just a proof-of-concept/feasibility project, you don't need to get into the nitty gritty of making a fully functional program for it.

All you really need is to be able to define four basic things: 1) direction of wheel rotation (robot goes forward or backward), 2) magnitude of drive (how fast to go), 3) direction of module rotation (clockwise or counterclockwise), and 4) magnitude of module rotation. In PBASIC, you'd do this with two PWM outputs.

If you're using an EduBot, it'd be pretty simple for someone to hack up some code for you.