I have installed a second battery pack -- four AA batteries now power the PIC and all the electronics except the radio receiver. The original 7.2 volt NiCad battery power only the servo, the electronic speed control and the radio receiver.

The inconsistent behavior in autonomous control may have been because of noise, but then it could be because of slow reaction time relative to speed travel. Not sure yet.

I need suggestions on how to prototype this package. There appears to be shops that offer short run PC cards. PCB-POOL advertises in the SERVO magazine. You all have any preferences?

Ken