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For the motors I used stander servos that where also perched from Tower Hobbies (Futaba S3003 Standard Servo). The servos was then hacked to allow for continues rotation. Here is how. The servo.
Open up the servo using the four screws on the bottom.
Open the top of the case and remove the black gear.
Cut the plastic tab in the black gear off.
Open to bottom of the case and remove the electronics with the motor. You can use the potentiometer were the black wheel was to push the electronics out.
Cut the top of the potentiometer, and position it to the center. You can do this by rotating it to one side and then the other to determine to max left and right positions and then turning it to the center.
Place some super glue around the potentiometer so it wont move. Assemble the servo together and prepare one more servo the same way.
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