For some time now the robot has been a "velocity" based motor control system. I have been working enable vector based motion, i.e. move forward x centimeters at a specific speed. All was going well until I found that the mouse based wheel encoder system could not keep up with the maximum speed of the motors. Thus making the robot run away.

This is the crux of the challenges of this type of system, obviously the problems are solvable,it will just take a little more effort than originally expected.