Here you have! Platform 2.0 on moving.
I think the motors are too fast. To set the platform on moving you must request a high speed from the remote controller. Moving slowly is hard...
Too much speed and to few torque: I choose a wrong gear ratio (too low). I will test it with a different motor type/gear ratio to see what are the results.
I'm just adding comments to the Arduino source code to make it more understandable. I hope to be finish this week.