OK! I have worked hard on the board over the weekend and today. However it has decided not to cooperate with me. I have they gyro responding when I'm running the test sketch, I have the motor responding when i run the test sketch.... but when I put the two together i get nothing. I have no clue why it is not working. I think I'm going to use my 2nd arduino to see if that is the problem.

Meanwhile I'm waiting for 90 degree bent pins to attach the 5 DoF sensor to a proto-shield to make the system a bit more robust.