Small tracked robot

I'm finally able to share a photo of my tracked robot:

Imgur

Despite having put encoders on the drive wheels, I still haven't written any code that would make the thing run straight (code that incorporates feedback to drive each side at a matching speed). And now that I'm back in classes I probably won't be doing it soon, either. Especially since I want to use C++ behaviours, as per the playground article Arduino Playground - Behavior.
Comments Please!