So I ordered a bunch of capacitors since I don't really have any aside from a few they gave me at work. I only had four 0.1uF capacitors here when I got home so I put one across each terminal on the motors and ran a test....less noise... so then I took the other two caps and put them on the terminals where my motors plug into my circuit board.... even less noise ;D
I'm starting to see a trend here.... more 0.1 uF capacitors = less noise 
I think my next step is to put two more on each motor (like ccarlson's link suggests) and I'll be good to go to move onto the more exciting parts of my little robot 