I am thinking of building a robot and I need help choosing a microcontroller and motor driver(s). I was thinking of something like the Arduino, Axon II, Motoruino, or Orangutan SVP-328. Something with a USB programming interface would be nice. The robot I intend on making should have about drive 3+ servos, 2 motors/motor driver (maybe with encoders), two ultrasonic rangefinders, LCD, and maybe some other sensors (buttons, gyros, etc). Any other microcontrollers you could suggest would be helpful.