We don't have our robot ready on beer check off day. We have our robot responding to bumps pretty well. We're running our motors at a duty cycle of about 40% with a frequency of 1kHz. There is a slight difference in the two motors so we have to run the left one at 35% and the right one at 40%. We've added in 0.1 uF capacitors across the leads of the motors to help reduce noise. We also wrapped the wires from the motors to the H-Bridge with a coil that has one end connected to ground and the other end open. This was also added in to reduce the noise levels.