We have a different steering solution. Gyro stablized heading correction. We set a heading and the robot always drives straight on it, hands off of the controls. Of course, we only get about 9fps out of our bot, but we could of course drive straight at ridiculous speeds given that the gyros are good for 80 degrees/sec. Maybe we could toast some of these "Turbo Bots" as they run out of control off the track.
Also, our radios seem to have a range of at least 80 feet or more in our hallways.