I know it has been a very long time, but my secret project was this...
I can't remember where I put the pictures and videos, so you won't get to see my version. However I learnt that you have to use the right tools for the job or you don't get the result you are after.
Anyway, I'm going to try and get an autonomous robot working again. I have got all the stuff back out, just before I stopped I got myself a small robot platform because the RC car's turning circle was too big.