Fixed issue with SoftSerial & Servo's by using the PWMServo library, although now can only drive PWM's on pins 9 & 10.
Started the first version of the Rover code, v2RevA1.  Created Timed loops for different tasks: FASTLOOP, MEDIUMLOOP and SLOWLOOP.  FASTLOOP is for updating Sensors.  MEDIUMLOOP is for updating Actuators.  SLOWLOOP is for communications to the User.  Tested all Timed Loops with all Sensors (except Sonars), 2 Servo's and blink LED on GPS fix.