The plan is coming together...

So the physical hardware and software are coming along well. I have also been able to get around some device configuration issues.

First I set the gps to use the uart on the arduino. Apparently there is a hardware buffer that is better able to handle the nema strings than the newsoftserial library. I now get timely and reasonable coordinates.

Second I wired up the xbee shield to the software serial port. I also configured them to crank at 115200. I get some funny asci characters on occasion the the telemetry is solid enough.

I also have wired up the throttle and steering to servos in code. The steering now reacts to the given gps data, a target location, and the compass reading. I was able to get the jitters out but now when I swing wheels around I get somewhat erratic readings from the compass - always something to improve.

I now plan to use the telemetry from the hardware platform (using the RC controller) to gather some gps data. With this I hope to create a course up and down my street!