I'd like to hire a consultant

[Robotan]

I have been working on and off for about a year on a project, and have realized that I need help! My background is in mechanical engineering, so understandably programming is not my strong point.
The project is a mobile robot controlled by a PIC18F6420. It uses two PID motor controllers that communicate via i2c, and several "smart" servo motors that communicate via rs232. There are many sensors as well, but these are not my primary concern.
The issue is, I have the basic structure of the program functioning, but the results can be somewhat erratic when the robot is in motion. I suspect this may be because my i2c and serial communications are not robust. I have no error checking or fault recovery in place. And this is where the consultant would come in: I would like to have an expert take my code and re-work the communications part of it to make things reliable and robust. I would be happy to pay whatever we agree is fair. I'm sure there are people in this forum who could write this code quite easily!
I appreciate your consideration,
Rob

[bkamen]

If you'd like to contact me directly (ben@benkamen.net), we could talk more about your design and needs.

Cheers,

-Ben
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Dazed and confused? I don't think so. Just "plain lost" will do. :D