I have written many questions unanswered by you. I guess you have been busy. I figured I would put them all in one place so it would be easier for you to find them. I have forgotten many.
Here are some of them:
Have you actually tried the schematic where you had two twelve volt and two six volts hooked in such a way that you could charge both at once? I guess the secret was the floating ground on the 6volt battery. Am i right? Did you ACTUALLY do that? Did it work?
What was you saying about putting the drive train backwards on the Omni2K? How did that work out?
Have you used 12vdc on the drivetrain? how did that work? Are you Happy with how your robot works?
I think I saw a microphone in your stuff. Have you used this? Has it worked good? do you use it for localized sound input?
I am trying to build the Omni3000 bot. I am gathering all the parts now and have done somewhat of a build.