[Tech] Looking at radios for my robot

I am designing a new combat robot for my father and I, its in the 1.3kg 
class and none of the existing controller + radio modules are really 
floating my boat as they say in terms of size and price.

I have made controllers in the past with 900mhz maxstream modules and 
tweaking existing speed controlers but we need a much smaller solution 
for this class of robots.

Anyway I am fine with desigining the power controll side of the system 
but I was after peoples opinions on bluetooth modules like this
http://www.sparkfun.com/commerce/product_info.php?products_id=8497
unfortunatly that product is out of stock at the moment. The other 
upside is bluetooth is built into most modern laptops and USB dongles 
can be had for around $2.50.

My requirements are low latency ~100 msec is ok 50 is good 250 is too much
lossy is fine, provided I can get > 6 data packets of around 10 bytes 
through a second the control is acceptable
10 meters range would be nice but I'd be happy with 2 or 3 given that 
the reciever is going to be inside a metal box full of high powered EMI, 
minimum acceptable range would be around a meter. If it could get 20-30 
meters then we could use it on our other bots.

I had looked at 
http://www.sparkfun.com/commerce/product_info.php?products_id=8664 but 
last time they seemed to have a large delay when changing from recieve 
to transmit, this isn't terminal but the full duplex communications that 
bluetooth offered was rather nice and would enable some "cool features"

I tried the nordic modules, but I was never able to get them to 
communicate successfully in their packet data mode. It was probably my 
fault in programming the registers and there is likley a fair bit more 
how to guides out there on them now, so I would considder them again.

Budget is around $30 per module.

Worst case we can get some $30 tx/rx pairs from hobbycity but I am loath 
to write a servo pulse input system if I could have some kind of nifty 
PC radio system working.
Speaking of which, does anybody have a source for servo pulse reading 
software for a PIC written in something higher than assembler, JAL would 
be nice ;->
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