I changed the schematic to use the "standard" op-amp symbol. Is it
more readable now?

http://www.roboticsguy.com/images/misc/balancing_robot/balancing-robot-boar=
d-schematic-r11.png
http://www.roboticsguy.com/images/misc/balancing_robot/balancing-robot-boar=
d-pcb-r11.png

I put a 10uF capacitor between the power connector and the sn754410
(which is the only place VCC is used). Do you think that is enough, or
should I put a few 10uF caps in parallel? I figured it would be
pointless to put a .1uF bypass cap by the VCC input on the sn754410
since the motors draw up to an amp, but I could put one of those on
there, too, if you think it would be a good idea.

Here are the Eagle files if anyone feels like taking a closer look..
http://roboticsguy.com/files/balancing_robot_2550.zip

Appreciate all of your advice!
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