I consolidated all of my Wifi/Web rover playing onto another chassis. I have the code mostly prettied up and should port easily to any Linux SBC. The code started on a Yun, touched-up and re-tooled on a PCDuino, then finally at home on an RPI!
I may post this bot here on LMR, but figured if anyone wanted to look at the code etc, they could.
Here is it on Instructables.
Gooseneck chassis wired for webing: