Now that I've got a Stage4 Gentoo install running on the board, i've decided to go ahead and order a serial controlled iRobot create base. This will allow me to easily monitor on board sensors, as well as allow the efika to control higher functions, such as vision (soon to come) detection and speech.

Also, bbrv was kind enough to also supply a second Efika board for my father, once these bots are up and running, we should be able to get them communicating with each other via ad-hoc wifi to accomplish tasks.