Thanks guys this really helps. I think I will use an ez robot platform with seperated arduino balancing. I just now need to figure out how to make it turn... the Flintstone wheel I am going to have to keep, because I do not want to worry about side to side. I think I may use a counter rotating gyro to slowly accelerate whilst another does the same, when one gyro stops, the inertia turns the robot, and one stays going to keep the robot balanced. This is a lot more complex, but it is my only option that doesn't have a huge gyro running the entire time, sucking up all of my energy.