Hi,
great job. I'm new to Arduino and I've got to this from Lego NXT. I think Arduino is much more powerful and flexible than NXT, but I love Lego technich to build, and I already have a good assortment of parts. So I was looking for the way to use Lego elements (motors, sensors...) with Arduino. Your work looks great. I'll try it.
By the way, do you have the schematics of the Power Funcitions motors? Have you connected them to Arduino?
Thanks.