Hi,
I like your encoder setup. Looks sturdy and well done.
What does your robot do so far? You have a webcam.. Encoders. Any sonar or IR range finders?
Is it remote control computer, or do you have any code to make it move and map by itself?
I am using my flood fill code (for auto map) in my PCB CAD program, to auto-route traces. I almost have it working. It is a cool algorithm, allowing you to move through space (with sensors), a graphic, or any other data without touching data you don't want to touch.
I am re-coding the sonar driver to use faster techniques than triginometry, so less time is spent calculating which cells in the occupancy grid correspond to sonar data. 8k DOS, 8k assembly, approx 8k simulation program.
Rich