You might want to take a look at this web site. Allot of AVR and motor drive and controller solutions.
http://www.pololu.com/. Wireless PS2 controllers are not to difficult to interface and use as a wireless robot controller. One of my favorite combination motor and servo is the Dynamixel AX12+. They are controlled by a serial bus kind of like what we will be doing with the can jags.
http://www.crustcrawler.com/motors/A...ex.php?prod=63 And the VEX brain really isn't that bad when you consider that it is part of a system. You can do allot more with it than build vex robots. I had a great time VEXING my neighbor's kids large gas powered truck.