It was a bit of a struggle to get bluetooth working right on the Gumstix, and it paid off. The Gumstix forms a bluetooth personal area network with my laptop when the Gumstix boots, so I can SSH into it for administration and monitoring. The laptop can also open a serial connection via bluetooth to send commands to the Gumstix, which forwards them to the servo controller. I don't even have to be in the same room. :-)

The robot is spread out all over my workbench as I write this, but it's almost time to put it back together again.