As of now, I am also working on getting Alfred to line follow. Since I have no knowledge of vision processing I am going to try to get it working by using four cadmium sulphide photocells on the bottom of Alfred just to get a stable version done as soon as possible. Then I can work on the more advanced stuff. This shouldn't be too hard to do considering there is a ton of documentation and code on how to do this available for the same project in RPI's IED course.
Oh, and duh, I will also need to whip up another one of these H Bridges for the other motor so I will also be occupied with that (these are very tedious). Hopefully I can get a good portion of these things done for my presentation Tuesday.